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mission yaw #9114

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Stifael opened this issue Mar 20, 2018 · 10 comments
Open

mission yaw #9114

Stifael opened this issue Mar 20, 2018 · 10 comments

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@Stifael
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Stifael commented Mar 20, 2018

Currently when doing a mission, the navigator adjusts the yaw such that the vehicle always points along the line previous-current setpoint. However, it even does that if the desired mission yaw is equal NAN, which is defined as having a desired yaw unchanged to the previous one (please see at MAV_CMD http://mavlink.org/messages/common#ATT_POS_MOCAP: Desired yaw angle at waypoint (rotary wing). NaN for unchanged).
To me, unchanged means that yaw is not important and hence, in case of a MC, the vehicle should not rotate at all.
I would like to get rid of the heading update in mission (basically get rid of https://github.com/PX4/Firmware/blob/master/src/modules/navigator/mission.cpp#L224) and just send out the yaw waypoint received from the uploaded mission. If the yaw waypoint is NAN, then the vehicle should not rotate at all. If there is a desired yaw at a waypoint, then rotate into that yaw while flying and keep it until the waypoint is reached (not sure about that: maybe there is something more intuitive).
One other thing that I am not sure about: it should be possible to specify during a survey that yaw matters/not matters.

@Stifael
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Stifael commented Mar 20, 2018

I also would like know the definition of MAV_CMD_NAV_LOITER_TIME param4, which can have three different meanings. In px4, it checks for exit track location. However, in qgc I don't see that option. I see that there is a yaw setpoint option though

@Stifael
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Stifael commented Mar 20, 2018

@dagar are you sure that https://github.com/PX4/Firmware/blob/master/src/modules/mavlink/mavlink_mission.cpp#L1310 has to be converted to radians? I think it is already in radians?
In addition, for multicopter I think this is never used, because the vehicle anyway always rotates toward the current waypoint.

@dagar
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dagar commented Mar 20, 2018

No not sure at all. As far as I can tell it falls outside of the spec. Given that it's typically user facing editable in QGC planning I think it's probably intended to be degrees.

This is the type of ambiguity that needs to be removed from the Mavlink spec.

@dagar
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dagar commented Mar 20, 2018

I think getting the yaw update out of master is definitely the way to go. This is both multicopter specific, and easier to handle in the multicopter controller.

I was also hoping to move the FOH altitude behaviour to the FW controller in #8883.

After that we can be rid of the continuous navigator position setpoint triplet publication.

@stale
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stale bot commented Jan 26, 2019

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

@mlaiacker
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Hi, there is a double radian conversion for all yaw settings in
https://github.com/PX4/Firmware/blob/d78a842ca802396c4d0d88ca6d17c9ddd0e4d770/src/modules/mavlink/mavlink_mission.cpp#L1328
QGC is sending param4 as radians.

It is not defined in the mavlink spec: "Desired yaw angle."

So all the "math::radians" have to be removed or the implementation in QGC changed.

I came across this Issue because I want to modify the loiter behavior when a yaw angle is defined.
Any solutions to this Issue?
I fixed it in my branch but this should be fixed in the mavlink spec and the PX4 implementation.
How is it implemented in Ardupilot?

@FlavioTonelli
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@mlaiacker Which is your QGC version?
Last QGC shall already send yaw angle as degree.

@mlaiacker
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Oh ok, I used 3.5.0

@bresch
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bresch commented Jul 10, 2019

@Stifael What's the status on that?

@stale
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stale bot commented Oct 8, 2019

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

@stale stale bot added the stale label Oct 8, 2019
@stale stale bot removed the stale label Oct 9, 2019
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