MPC: Auto: Use the Stop Motion Primitive for emergency braking in FlighttaskAuto #24114
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Claudio-Chies
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Dec 16, 2024
| _position_smoothing.reset(_acceleration_setpoint, _velocity, _position); | ||
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| // Modifying the triplet outside of the navigatior is not ideal, but this is to catch an edge case. | ||
| _triplet_prev_wp = _position; |
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Important thing to look at during review, Triplets are usually not to be adjusted outside the navigator, but this was the only way I found for the drone to move in a direct line from the end position of the slow-down to the waypoint.
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Solved Problem
Switching at high speeds from Stabilized to Mission can have weird breaking and flying to the waypoint behaviour
SITL Flightreview
Solution
With this PR i'm using the Stop Motion primitive introduced with FlightTaskLand for emergency braking in FlightTaskAuto. And removed the _check_emergency_braking logic from FlightTaskAuto.
Changelog Entry
For release notes:
Test coverage
Context
Related links, screenshot before/after, video