Split up control methods for backtransition #23893
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…sition Signed-off-by: RomanBapst <[email protected]>
sfuhrer
reviewed
Nov 6, 2024
| _npfg.setAirspeedNom(_performance_model.getCalibratedTrimAirspeed() * _eas2tas); | ||
| _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); | ||
|
|
||
| Vector2f virtual_target_point = Vector2f(cosf(_backtrans_heading), sinf(_backtrans_heading)) * 100.0f; |
There was a problem hiding this comment.
Can you make a comment for the "100" magic number? Is it enough for all types of VTOLs?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
Previously, the method to control a transition to hover was handling both cases when position was available, and when it was not available.
It's cleaner to have the methods separates for once. Other than that, the method which controls the transition for the case when position is not available, now does heading hold, which is better than just demanded 0 roll, which was done previously.
Changelog Entry
Control heading during backtransition when local position is not available.
Test coverage
Currently tested in SITL, following up with plots from real tests.
Context
Related links, screenshot before/after, video