dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FixedwingPositionControl: revise navigateLine(), navigateBearing() and naivgatePathTangent() briefs

This commit is contained in:
Thomas Stastny 2023-08-28 19:44:42 +02:00
parent 7b7d762582
commit 16bd0a2ba0
1 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/fw_pos_control/FixedwingPositionControl.hpp
View File

@ -812,8 +812,8 @@ private:
* line in 2D space (first to second point determines the direction). Determines the
* relevant parameters for evaluating the NPFG guidance law, then updates control setpoints.
*
* @param[in] point_on_line_1 Line segment start position in local coordinates. (N,E) [m]
* @param[in] point_on_line_2 Line segment end position in local coordinates. (N,E) [m]
* @param[in] point_on_line_1 Arbitrary first position on line in local coordinates. (N,E) [m]
* @param[in] point_on_line_2 Arbitrary second position on line in local coordinates. (N,E) [m]
* @param[in] vehicle_pos Vehicle position in local coordinates. (N,E) [m]
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
@ -855,6 +855,8 @@ private:
* Path following logic. Takes poisiton, path tangent, curvature and
* then updates control setpoints to follow a path setpoint.
*
* TODO: deprecate this function with a proper API to NPFG.
*
* @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m]
* @param[in] position_setpoint closest point on a path in local coordinates. (N,E) [m]
* @param[in] tangent_setpoint unit tangent vector of the path [m]
@ -870,7 +872,7 @@ private:
* Navigate on a fixed bearing.
*
* This only holds a certain (ground relative) direction and does not perform
* cross track correction. Helpful for semi-autonomous modes. Similar to navigateHeading.
* cross track correction. Helpful for semi-autonomous modes.
*
* @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m]
* @param[in] bearing Bearing angle [rad]