DDS: add guided path external control and implement for plane #26339
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srmainwaring
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Ryanf55
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Oct 28, 2024
| } else { | ||
| // moving along a line segment - navigate to wp ahead of closest point | ||
| // in direction of path tangent | ||
| float ofs_m = 100.0; |
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Should this be the L1 distance?
https://mercury.kau.ac.kr/park/Archive/PCUAV/gnc_park_deyst_how.pdf
The paper recommends it be configurable.
Signed-off-by: Rhys Mainwaring <[email protected]>
- Implement method update_path - Update comment - Reduce look-ahead distance in update_path Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
- Add guided path sub-mode - Extend handling of SET_POSITION_TARGET_GLOBAL_INT to include path guidance - Check for non-zero velocity and acceleration - Calculate path curvature and direction - Force update of adjust_altitude_target. - Remove duplicate check for guided mode. Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
…_and_curvature Signed-off-by: Rhys Mainwaring <[email protected]>
- Add guided control. - Update type mask comparisons. - Satisfy codestyle. Signed-off-by: Rhys Mainwaring <[email protected]>
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Add guided path external control in DDS and implement for Plane.
Details
set_path_position_tangent_and_curvature.AP_ExternalControl_Planehandle_global_position_controlinAP_DDS_External_Controlto handle path guidance setpoint requestsDependencies
The path guidance control for plane depends on the changes in:
Tasks
Testing
Run with a modified version of
terrain_navigationwith the addition of a relay node to forward the mavros GlobalPositionTarget messages onto AP_DDS instead of mavros.Figure: ROS 2 node graph showing setpoint commands from planner forwarded to AP_DDS
Figure: ROS 2 setpoint messages
Figure: rviz view of terrain navigation running via DDS
