Open muramura opened 4 years ago
rmackay9
commented
4 years ago Ok, so the issue here is that the vehicle is trailing the target point that is moving around the circle. This means that the vehicle stops before it actually completes the circle. I think that if it's given a bit more time (perhaps using a delay) it will reach the final target... so one possible solution may be to check that the vehicle is within the WPNAV_RADIUS of the target somehow.
muramura
commented
4 years ago @rmackay9 san. I want to rotate the copter N times, with WP in place. The radius of the circle is set to 0.
muramura
commented
4 years ago In the following, the number of preceding rotations and the number of specified rotations are judged. Therefore, I adjusted the ratio of the overturn by adding a value of 0.0 or more to the specified number of rotations so that it becomes the actual number of rotations. At SITL, it got good. I think it would be even better if they let you get the actual number of rotations.
https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L1839
Bug report
Because the value of the get_angle_total method is larger than the actual YAW value, the rotation stops in the middle and the process does not finish. The rotation speed is 90 degrees per second. https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L1839
Issue details
Please describe the problem
Version What version was the issue encountered with
Platform [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine
Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc)
Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)
Logs Please provide a link to any relevant logs that show the issue