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droneprojetsn2 / ardupilot-mega

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algorithm of passing waypoints #710

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago 
Now waypoint is reached when the distance to it is less than the radius. this 
gives a significant distortion of the radius large. This is particularly 
important in order to plan the landing.
When the aircraft crosses the 20 meter radius of the last waypoint it takes a 
zero pitch and stops the intense altitude reduction of about 20 meters before.

I propose to change the algorithm so that the event is "reaching the waypoint" 
happened in the case when the aircraft is within the range of radius a point in 
the nearest to the center point

Original issue reported on code.google.com by alexeyko...@gmail.com on 13 Aug 2012 at 1:01

GoogleCodeExporter commented 8 years ago 
maybe need low-sense navigation of roll and pitch until entry into the radius 
to reach the waypoint in order to avoid sudden movements

Original comment by alexeyko...@gmail.com on 13 Aug 2012 at 1:10

GoogleCodeExporter commented 8 years ago 
[deleted comment]
GoogleCodeExporter commented 8 years ago 
nearest point is when ber_error > (+-)90 deg 
(or 80 with time-lag of system)

Original comment by alexeyko...@gmail.com on 13 Aug 2012 at 1:28