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feat(navigator): add Guided Course mode for fixed-wing

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Implements a new GUIDED_COURSE navigator mode that maintains a constant
ground-track bearing, altitude, and airspeed without manual stick input.
The mode is activated via MAVLink and accepts real-time in-flight updates:
  - MAV_CMD_GUIDED_CHANGE_HEADING (HEADING_TYPE_COURSE_OVER_GROUND): set course
  - MAV_CMD_DO_CHANGE_ALTITUDE: adjust target altitude
  - MAV_CMD_DO_CHANGE_SPEED: adjust target airspeed

On activation the vehicle captures its current velocity vector as the
initial course bearing. A valid horizontal velocity estimate (GPS or
dead-reckoning) is required; course commands are rejected if unavailable.
This commit is contained in:
mahima-yoga
2026-05-22 15:17:25 +02:00
committed by Mahima Yoga
parent e89d7a2dd2
commit 8b3ef1cf9e
18 changed files with 400 additions and 74 deletions
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1
msg/PositionSetpoint.msg
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@@ -33,6 +33,7 @@ uint8 loiter_pattern # loitern pattern to follow
float32 acceptance_radius # horizontal acceptance_radius (meters)
float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
float32 course # [rad] desired course (bearing) over ground, NaN = unused
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover

2
msg/versioned/VehicleCommand.msg
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@@ -128,6 +128,8 @@ uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehic
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_GUIDED_CHANGE_HEADING = 43002 # Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. |Heading type (HEADING_TYPE enum)|[deg] Target bearing [0..360]|[deg/s] Max rate of change|Unused|Unused|Unused|Unused|
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.

2
msg/versioned/VehicleStatus.msg
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@@ -36,7 +36,7 @@ uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_GUIDED_COURSE = 7 # Guided Course mode (FW: maintain course/alt/speed)
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode