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Handle additional case with NPFG waypoint navigation handling #53

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Handle additional case with NPFG waypoint navigation handling #53

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9 changes: 9 additions & 0 deletions src/lib/npfg/npfg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -507,6 +507,7 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin

Vector2f vector_A_to_B = getLocalPlanarVector(waypoint_A, waypoint_B);
Vector2f vector_A_to_vehicle = getLocalPlanarVector(waypoint_A, vehicle_pos);
Vector2f vector_B_to_vehicle = getLocalPlanarVector(waypoint_B, vehicle_pos);

if (vector_A_to_B.norm() < EPSILON) {
// the waypoints are on top of each other and should be considered as a
Expand All @@ -523,6 +524,14 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin
signed_track_error_ = cross2D(unit_path_tangent_, vector_A_to_vehicle);
evaluate(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, 0.0f, true, -vector_A_to_vehicle.normalized());

} else if (vector_A_to_B.dot(vector_B_to_vehicle) > 0.0f) {
// we are in front of waypoint B, fly directly to it until the bearing generated
// to the line segement between B and A is shallower than that from the
// bearing to the second waypoint (B).
unit_path_tangent_ = -vector_A_to_B.normalized();
signed_track_error_ = cross2D(unit_path_tangent_, vector_B_to_vehicle);
evaluate(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, 0.0f, true, -vector_B_to_vehicle.normalized());

} else {
// track the line segment between A and B
unit_path_tangent_ = vector_A_to_B.normalized();
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