send velocity setpoint to enable proper takeoff/land #12009
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MaEtUgR
reviewed
May 15, 2019
| @@ -86,6 +86,8 @@ bool FlightTaskAutoMapper::update() | |||
| _generateVelocitySetpoints(); | |||
| } | |||
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| _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint); | |||
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Is it necessary/desired to publish these all the time even if there is no obstacle avoidance enabled or present?
Could it be conditioned by COM_OBS_AVOID either here or inside the updateAvoidanceDesiredSetpoints() function?
This was referenced May 19, 2019
handling is enabled
During takeoff you're always in the condition within xy acceptance radius and more than altitude radius away from the takeoff waypoint
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@MaEtUgR do you mind reviewing again. There are a few changes:
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MaEtUgR
reviewed
May 28, 2019
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Send velocity and position setpoints from AutoMapper to enable proper landing. Before this PR, the avoidance only knew about the position waypoint but due to the drift in the local frame that waypoint could have been reached while still being in air.
Needs MAVROS PR mavlink/mavros#1233 otherwise it isn't possible to send to the companion computer vectors containing NAN.