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ivogeorg / FCND-Motion-Planning

Udacity FCND Project 2 - Planning in complex urban environment using udacidrone API
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Vehicle dynamics #15

Open ivogeorg opened 1 year ago

ivogeorg commented 1 year ago

There are several enhancements here, mostly to do with attitude:

  1. Pointing forward in the direction of flight. Right now the drone flies in the same attitude as initialized by the simulator.
  2. Roll & yaw at changes of direction, dependent on the angle of direction change. This might be one element of local replanning.
  3. Variable deadband radius, which might be related or the same thing as (2).
ivogeorg commented 1 year ago

Waypoints are [north, east, altitude, yaw]. See how to add an angle and what it means. It's essentially a yaw command.