Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Survey - fix of survey tracking problem on steep slopes #23371

Merged
merged 2 commits into from
Jul 11, 2024
Merged

Survey - fix of survey tracking problem on steep slopes #23371

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6528bde
initial working
Claudio-Chies Jul 8, 2024
50d3bb5
incoperated review
Claudio-Chies Jul 10, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 8 additions & 10 deletions src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -632,29 +632,27 @@ bool FlightTaskAuto::_evaluateGlobalReference()
State FlightTaskAuto::_getCurrentState()
{
// Calculate the vehicle current state based on the Navigator triplets and the current position.
const Vector2f u_prev_to_target_xy = Vector2f(_triplet_target - _triplet_prev_wp).unit_or_zero();
const Vector2f pos_to_target_xy = Vector2f(_triplet_target - _position);
const Vector2f prev_to_pos_xy = Vector2f(_position - _triplet_prev_wp);
const Vector3f u_prev_to_target = (_triplet_target - _triplet_prev_wp).unit_or_zero();
const Vector3f prev_to_pos = _position - _triplet_prev_wp;
const Vector3f pos_to_target = _triplet_target - _position;
// Calculate the closest point to the vehicle position on the line prev_wp - target
const Vector2f closest_pt_xy = Vector2f(_triplet_prev_wp) + u_prev_to_target_xy * (prev_to_pos_xy *
u_prev_to_target_xy);
_closest_pt = Vector3f(closest_pt_xy(0), closest_pt_xy(1), _triplet_target(2));
_closest_pt = _triplet_prev_wp + u_prev_to_target * (prev_to_pos * u_prev_to_target);

State return_state = State::none;

if (u_prev_to_target_xy.length() < FLT_EPSILON) {
if (!u_prev_to_target.longerThan(FLT_EPSILON)) {
// Previous and target are the same point, so we better don't try to do any special line following
return_state = State::none;

} else if (u_prev_to_target_xy * pos_to_target_xy < 0.0f) {
} else if (u_prev_to_target * pos_to_target < 0.0f) {
// Target is behind
return_state = State::target_behind;

} else if (u_prev_to_target_xy * prev_to_pos_xy < 0.0f && prev_to_pos_xy.longerThan(_target_acceptance_radius)) {
} else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.longerThan(_target_acceptance_radius)) {
// Previous is in front
return_state = State::previous_infront;

} else if (Vector2f(_position - _closest_pt).longerThan(_target_acceptance_radius)) {
} else if ((_position - _closest_pt).longerThan(_target_acceptance_radius)) {
// Vehicle too far from the track
return_state = State::offtrack;

Expand Down
Loading