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Rover: Circle mode enhancements #27983

Merged
merged 2 commits into from
Sep 11, 2024
Merged

Rover: Circle mode enhancements #27983

merged 2 commits into from
Sep 11, 2024

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stephendade
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Two fixes for circle mode in Rover:

  • Correct reporting of target position and distance/bearing to target
  • Stop circling (stop the vehicle) if it's unable to properly track the circle. This is usually due to the vehicle not being able to turn fast enough for a given speed/radius circle.

@stephendade
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Fix for #25825

The issue can be replicated in SITL by setting ATC_STR_RAT_MAX to 10

IamPete1
IamPete1 reviewed Sep 2, 2024
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Not sure about the stopping, rest looks OK.

We do already limit the speed on circle enter for the given accel limits, maybe we just need some safety factor there, or to include some missing limiting factors.

Rover/mode_circle.cpp Outdated
Comment on lines 159 to 162
// if more than 20% inside or outside circle radius, stop vehicle
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Circle: vehicle unable to turn fast enough to track circle. Stopping vehicle.");
stop_vehicle();
return;
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We also come through here in loiter turns mission items. This is not such a great solution in that case. Also it looks like it will call send text at loop rate?

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Yeah, I should add in a flag to only send this message once...

@stephendade
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We do already limit the speed on circle enter for the given accel limits, maybe we just need some safety factor there, or to include some missing limiting factors.

I assume you mean the throttle accel limits?

This is more the case when the vehicle turn rate (yaw) is much less than the desired turn rate. The vehicle (currently) does not slow down if it can't reach the desired turn rate. It'd be nice if it did, though - I couldn't quite work out the maths to do that though.

@stephendade stephendade force-pushed the circle-mode-enhancements branch from f7234ef to 2fc3d0f Compare September 4, 2024 10:14
@stephendade
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Ok, I've changed my approach here:
If the vehicle can't track the circle, it will slow the vehicle speed by 20% and then attempt to track back onto the circle

Worked well in SITL

@stephendade stephendade force-pushed the circle-mode-enhancements branch from 2fc3d0f to bda3d25 Compare September 8, 2024 09:41
@stephendade
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Tested in a real vehicle and it worked just fine

@IamPete1 and/or @rmackay9 - are you happy to approve?

IamPete1
IamPete1 reviewed Sep 8, 2024
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@stephendade stephendade force-pushed the circle-mode-enhancements branch from bda3d25 to e0cf5f6 Compare September 9, 2024 10:53
IamPete1
IamPete1 approved these changes Sep 9, 2024
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Looks good.

rmackay9
rmackay9 reviewed Sep 10, 2024
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rmackay9
rmackay9 reviewed Sep 10, 2024
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This looks pretty good to me, thanks! I've made some comments on text messages to the user but after that's let's merge

@stephendade stephendade force-pushed the circle-mode-enhancements branch from e0cf5f6 to 9982398 Compare September 10, 2024 10:25
rmackay9
rmackay9 approved these changes Sep 10, 2024
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LGTM, thanks!

@Hwurzburg Hwurzburg added the WikiNeeded needs wiki update label Sep 10, 2024
@peterbarker peterbarker merged commit a3548b6 into ArduPilot:master Sep 11, 2024
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@IamPete1 IamPete1 IamPete1 approved these changes

@rmackay9 rmackay9 rmackay9 approved these changes

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@stephendade @rmackay9 @IamPete1 @Hwurzburg @peterbarker