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implement GUIDED_HEADING_TYPE default mavlink message #28527

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implement GUIDED_HEADING_TYPE default mavlink message #28527

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6fee3d4
MAVLink: use the new MAVLink GUIDED HEADING_TYPE_DEFAULT
timtuxworth Nov 5, 2024
6961480
ArduPlane: use the new MAVLink GUIDED HEADING_TYPE_DEFAULT
timtuxworth Nov 5, 2024
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21 changes: 15 additions & 6 deletions ArduPlane/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -863,6 +863,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
(plane.control_mode == &plane.mode_guided)) {
plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND);
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
#endif

// add home alt if needed
if (requested_position.relative_alt) {
Expand Down Expand Up @@ -973,22 +976,28 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl

float new_target_heading = radians(wrap_180(packet.param2));

// course over ground
if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int
switch(HEADING_TYPE(packet.param1)) {
case HEADING_TYPE_COURSE_OVER_GROUND:
// course over ground
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I think it's safe to remove these comments, it's obvious from the case what this is for.

plane.guided_state.target_heading_type = GUIDED_HEADING_COG;
plane.prev_WP_loc = plane.current_loc;
// normal vehicle heading
} else if (int(packet.param1) == HEADING_TYPE_HEADING) { // compare as nearest int
break;
case HEADING_TYPE_HEADING:
// normal vehicle heading
plane.guided_state.target_heading_type = GUIDED_HEADING_HEADING;
} else {
break;
case HEADING_TYPE_DEFAULT:
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
return MAV_RESULT_ACCEPTED;
default:
// MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters).
return MAV_RESULT_DENIED;
}

plane.g2.guidedHeading.reset_I();

plane.guided_state.target_heading = new_target_heading;
plane.guided_state.target_heading_accel_limit = MAX(packet.param3, 0.05f);
plane.guided_state.target_heading_accel_limit = MAX(is_zero(packet.param3)? 10.0f : packet.param3 , 10.0f); // the, previous limit of 0.05 was 0.29 degrees, not very useful
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Why this change?

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@timtuxworth timtuxworth Nov 7, 2024 •
edited
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As per the comment @IamPete // the, previous limit of 0.05 was 0.29 degrees, not very useful
It was throttling the rate at which heading would change to very, very tiny increments that prevented the follow from being able to track the target plane.

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It's a max not a min, it's saying the lowest it can be is 0.05 but it can be larger.

plane.guided_state.target_heading_time_ms = AP_HAL::millis();
return MAV_RESULT_ACCEPTED;
}
Expand Down
2 changes: 1 addition & 1 deletion modules/mavlink
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Submodule mavlink updated 1 files
+1 −0 message_definitions/v1.0/ardupilotmega.xml
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