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07bac1389c
* fix(fw_mode_manager/navigator): use the correct switch distance Before https://github.com/PX4/PX4-Autopilot/pull/24056, the fixed-wing position controller used to publish the acceptance radius (calculated depending on params and state by DirectionalGuidance::switchDistance) in the position controller status. The refactor migrated that to individual lateral/longitudinal topics, but left the receiving code in the navigator unchanged. As a consequence, fixed-wing vehicles now rely on NAV_ACC_RAD for the acceptance radius, rather than the adaptively calculated switchDistance. As NAV_ACC_RAD is only 10m by default this leads to overshoot, especially on tight corners. Fix by reintroducing the publication (now from FixedWingModeManager through fixed_wing_lateral_guidance_status) and using it in navigator. * fix(navigator_main): only listen to position controller status if rover rover_ackermann is the only remaining publisher after #24056 * style(msg): improve field description - @INVALID NaN - Describe relation with NAV_ACC_RAD * style(fw_mode_manager): remove stale include * docs(navigator): clarify acceptance logic in param description
15 lines
1.2 KiB
Plaintext
15 lines
1.2 KiB
Plaintext
# Fixed Wing Lateral Guidance Status message
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# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
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uint64 timestamp # time since system start (microseconds)
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float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
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float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
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float32 bearing_feas # [@range 0,1] bearing feasibility
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float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility
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float32 signed_track_error # [m] signed track error
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float32 track_error_bound # [m] track error bound
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float32 switch_distance # [m] [@range 0, INF] [@INVALID NaN] distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead.
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float32 adapted_period # [s] adapted period (if auto-tuning enabled)
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uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
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