Yaw mode 3 (along trajectory) - Add check for minimum distance to target #12627
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… 3 (along trajectory) to be consistent with the other yaw modes
RomanBapst
approved these changes
Aug 7, 2019
MaEtUgR
approved these changes
Aug 7, 2019
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In order to be consistent with the other yaw modes, https://github.com/PX4/Firmware/blob/43d006aff26e32bbd442649de3cb627be710facc/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp#L340 I added the condition that the yaw setpoint is frozen when the vehicle is in the acceptance radius
Tested in SITL only (velocity controller returned to force overshoot):
https://logs.px4.io/plot_app?log=a07e3da5-a6f9-49bb-8a04-70d5902aec23