Colinear waypoints cause aircraft to go unstable

byu-magicc / rosplane

A basic fixed-wing autopilot for ROS - based on the textbook "Small Unmanned Aircraft: Theory and Practice" by Randy Beard and Tim McLain

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Colinear waypoints cause aircraft to go unstable #65

Open DevonMorris opened 6 years ago

DevonMorris commented 6 years ago

I've been testing the path manager in fillet-mode and it seems that it doesn't know how to handle colinear waypoints (i.e. [100, 500, -100] , [100, 600, -100] and [100, 700, -100]). It seems that the state-machine should just stay in straight line paths instead of banking.

Additionally, @mmmfarrell said he saw this when using dubin's paths.

gy2256 commented 3 years ago

Is it possible to test out the minimum distance between two co-linear waypoints such that the path remain to be straight?