* the large 20% margin is no longer appropriate now that nearly all work in the system is
scheduled (moved out of ISRs) and represented in the load percentage
* closes https://github.com/PX4/Firmware/issues/12753
The yaw pointing towards the center makes sense since that's the approach
direction anyways. But with the yaw feed forward results in a weird looking
bias when not orbiting yet.
The condition that the vehicle is more than 3m away from the circle line
was too sloppy. That often happens when the radius is changed by sticks.
A reapproach is only necessary when the center is moved and that's only
possible through the orbit command.
The initial approach to the circle to orbit on was very agressive since
it was just the controller trying to stay on the circle reaching the
limits. Now there's first an approach phase in which the vehicle reaches
the circle trajeectory in a smooth perpendicular line before starting the
orbit execution.
Before it was:
- not used anywhere
- copied from an old mission implementation version
- didn't plan in advance
- had a lot of broken cases
- dependent on a lot of parameters
I'm starting with a new relatively simple implementation that works as
expected for a minimum viable implementation and can be improved over time.
The first version is used to approach the circle path in Orbit mode to
verify the interface and get testing such that it gets eventually used
everywhere.
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
- matrix in PX4/Firmware (341c0ae739753db98dcd0711e91f621c1666b16d): 56b069956d
- matrix current upstream: cc084e0791
- Changes: 56b069956d...cc084e0791cc084e0 2019-08-26 Martina Rivizzigno - matrix: add method to check all values are nan (#82)
84b3da2 2019-08-22 kritz - Canonical Quaternion with tests (#81)
Matthias Grob
Daniel Agar
Silvan Fuhrer
BazookaJoe1900
Beat Küng
kritz
bresch
roangel
PX4 Build Bot