common.xml: update description of xtrack-loc in MAV_CMD_NAV_LOITER_*#495
common.xml: update description of xtrack-loc in MAV_CMD_NAV_LOITER_*#495peterbarker wants to merge 2 commits intoArduPilot:masterfrom
Conversation
| <param index="2">Empty</param> | ||
| <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param> | ||
| <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param> | ||
| <param index="4" label="Xtrack Location">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.</param> |
There was a problem hiding this comment.
this is pretty bizarre, we better confirm someone really does this and wants to keep doing it!
There was a problem hiding this comment.
This definition has been there forever - the change just makes it clear what means. From Mission > loiter commands this allows callers to specify the angle (and hence how quickly the vehicle converges to the center xtrack).
FMI, why is it bizarre to grant some control over how you converge to the centre x-track?
PX4 does not use this - it tests the parameter against 0 (centre x-track) and treats anything else (>0) as the 1 value (implementation). Given the implementation, using this "feature" would be hard for PX4 to adopt safely.
In any case, if no one wants it or is using it then simplifying the specification is a good thing to do.
There was a problem hiding this comment.
This definition has been there forever - the change just makes it clear what means. From Mission > loiter commands this allows callers to specify the angle (and hence how quickly the vehicle converges to the center xtrack). FMI, why is it bizarre to grant some control over how you converge to the centre x-track?
This bizarre thing is adding the "any value other than 0 or 1 is the angle to leave the circle" bit. I have adjusted this patch set to remove that bit. A better implementation would probably have been, "if 2 then see param2 for the angle at which the vehicle should leave the circle" sort of thing.
PX4 does not use this - it tests the parameter against 0 (centre x-track) and treats anything else (
>0) as the1value (implementation). Given the implementation, using this "feature" would be hard for PX4 to adopt safely.In any case, if no one wants it or is using it then simplifying the specification is a good thing to do.
Simplified here!
Do you want me to PR the same change in mavlink/mavlink/master?
peterbarker
force-pushed
the
pr/xtrack-description
branch
from
5991ec8 to
9c70b38
Compare
peterbarker
force-pushed
the
pr/xtrack-description
branch
from
9c70b38 to
7fcb5bb
Compare
4 participants
Synchronises us with mavlink/mavlink/master
I think this is just more words which say much the same thing, if a bit more precisely.