Plane: fixed bug in pullup and loiter to alt code #28259
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if we have poor pitch trim it is possible we will pullup before reaching the target airspeed. Check pitch threshold during airspeed stage of pullup
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Georacer
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Sep 29, 2024
IamPete1
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Sep 29, 2024
IamPete1
reviewed
Sep 29, 2024
if our target loiter radius is unachievable then we can reach the loiter target on initial capture but be unable to maintain it. This ensures that once we capture we return true on reached_loiter_target() This is critical for any mission type where we take an action on reached_loiter_target() and another condition (such as being lined up for a waypoint). Otherwise we may continue loitering forever
use LOITER_TO_ALT and a landing, allowing for a much better test of the full glider pullup mission
we were accepting values outside the specified range
need terrain handlers installed to support terrain targets
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IamPete1
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Sep 29, 2024
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This fixes a bug in the L1 controller where reached_loiter_target() goes false after capture due to an unachievable loiter radius or wind. This can lead waypoint types that rely on a combination of reached_loiter_target() and another condition (such as being lined up with the next waypoint) to never complete
This also fixes a bug in the pullup code where poor pitch trim can mean we never hit the target airspeed in the pullup
Note that the loiter to alt fix is not really a complete fix. If the initial trajectory prevents capture ever happening then we can still have the same issue. We could add a check for yaw going through more than 360 degrees to make this more robust
Note: This builds on #28257
@peterbarker this includes a fix for the wait min/max/accuracy code in vehicle test suite that will impact a lot of tests. We were getting things like this:
which shows it accepting an out of range value