Control/UAV/Ardupilot: make loiter radius for GUIDED Goto a parameter #204
+15
−2
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This allows setting it as small as the airframe permits, without going into a loiter around the Goto
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This allows setting it as small as the airframe permits, without going into a loiter around the Goto.
A small value means more precise control, since the fixed-wing will fly closer to the Goto before it will start to loiter. The risk with a small value is, of course, that it might be (and probably is) smaller than the turning radius of the vehicle. But the previous default value (10) is already very small.
It is worth mentioning that RTL_RADIUS should be set to a reasonable value in AP, since DUNE is messing with WP_LOITER_RAD.