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mission yaw #9114
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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 |
@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? |
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. |
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. |
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. |
Hi, there is a double radian conversion for all yaw settings in 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. |
@mlaiacker Which is your QGC version? |
Oh ok, I used 3.5.0 |
@Stifael What's the status on that? |
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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.
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