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matthewoots / px4-path-planner

PX4 path planning module, this integrate mavros with the offboard node for position control, adding in uniform bspline trajectory and reciprocal avoidance
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Specify yaw in Waypoint List #1

Open frapit opened 1 year ago

frapit commented 1 year ago

Hi, nice work!

Is there a way to involve a user-defined yaw in the trajectory calculation? As I can see it, currently only x,y,z are supported in the waypoint file. I assume the spline interpolation can only take those as input? Which changes would be required to support this?

Thanks

matthewoots commented 1 year ago

I'm so sorry for the late reply, yes it only supports xyz however the issue is with wrapping over 180 degs, you can check for wrap and use the bspline for 1 axis, hope this helps