Fix LOITER_TURNS zero radius bug #30874
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henrywarhurst
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ArduCopter/mode_auto.cpp
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| if (!is_zero(radius_m)) { | ||
| copter.circle_nav->set_radius_cm(radius_m * 100.0f); | ||
| } | ||
| copter.circle_nav->set_radius_cm(radius_m * 100.0f); |
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I wonder if there's a default radius we should set instead if radius is not > 0?
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if radius is 0 it should pirouette in place, IMO
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I think pirouette in place feels like the natural limit as loiter radius -> 0
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I agree - and the called code seems to think so too.
Strange thing is that the code has been doing this since 2016....
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btw are these test failures flakes @peterbarker? |
ArduCopter/mode_auto.cpp
Outdated
| if (!is_zero(radius_m)) { | ||
| copter.circle_nav->set_radius_cm(radius_m * 100.0f); | ||
| } | ||
| copter.circle_nav->set_radius_cm(radius_m * 100.0f); |
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I agree - and the called code seems to think so too.
Strange thing is that the code has been doing this since 2016....
One was. The other is a serious (pre-existing) problem which I'm now investigating. |
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friendly ping @rmackay9 |
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Thanks! |
Fixes #19028
Yaw the copter on the spot when using a 0 radius
LOITER_TURNSinstead of using the radius from the previous time aLOITER_TURNSwas conducted.Using zero radius with a
LOITER_TURNSfalls through to the already implemented panorama mode:ardupilot/libraries/AC_WPNav/AC_Circle.cpp
Lines 371 to 373 in 4e118ca
Tested before and after in SITL and confirmed this fixes the bug.