Navigator: VTOL: enable weather vane in auto mode outside of mission #13761
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
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission - flag is set befor front transition to align with wp, and unset after alignment is over Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
|
Thank you this is the better way |
xdwgood
approved these changes
Dec 19, 2019
|
This awkward interaction between navigator and flight_tasks for VTOL makes me think the architecture needs to be rethought. |
dagar
approved these changes
Dec 28, 2019
BazookaJoe1900
pushed a commit
to BazookaJoe1900/Firmware
that referenced
this pull request
Feb 2, 2020
…PX4#13761) - rename of flag in position sp: from allow_weather_vane to disable_weather_vane - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission - flag is set before front transition to align with wp, and unset after alignment is over Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
BazookaJoe1900
pushed a commit
that referenced
this pull request
Feb 3, 2020
…#13761) - rename of flag in position sp: from allow_weather_vane to disable_weather_vane - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission - flag is set before front transition to align with wp, and unset after alignment is over Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Outdated suggestions cannot be applied.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.
Alternative to #13740.
With PR, I tried to fix #13725 by changing the logic of the "allow_weather_vane" flag in the position_setpoint message by converting it to "disable_weather_vane". Weather vane is per default always enabled in all mission modes, and only gets disabled during the alignment phase of the transition.
Test data / coverage
SITL tested
What do you think @xdwgood , do these changes solve your issues?