Plane: fixed takeoff direction with no yaw source #28730
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in TAKEOFF mode with either very poor yaw source or no yaw source we need to use ground vector and wait for sufficient ground speed
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| eventually trigger | ||
| */ | ||
| if (!plane.throttle_suppressed && | ||
| groundspeed > plane.aparm.airspeed_min*0.3) { |
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So basically you will not allow the heading to "lock-in" until some groundspeed is gained, deeming the heading valid.
Sounds reasonable.
| if abs(bearing_from_home - start_loc.heading) > bearing_margin: | ||
| raise NotAchievedException(f"Did not takeoff in the right direction {bearing_from_home}") | ||
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| self.fly_home_land_and_disarm() |
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Since the test is only about the takeoff, does it make sense to not wait for the landing, but end the test early here? This would alleviate the test server a bit.
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shouldn't the course lock based on GPS course be based on when the GPS speed is valid? and this is not really airspeeed dependent at all?
- in Auto takeoffs, its set 2s after exceeding 5m/s ground speed from GPS (which I think could be set immediately after exceeding this since modern GPS's have been accurate for years, unlike when this bit was written)
- in my pending Autoland Lua script PR , I use 5m/s with a modern cheap GPS (M8) and it works great capturing takeoff direction, even in very strong crosswinds in compassless hand launches
- your criteria is 2.7m/s in the default case anyway
I think that it should just be set to a magic number of X (3-5m/s?) since the quality of the GPS heading is not really related to anything to do with airspeed
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Off-Topic Question - Does takeoff compensate for cross-wind ? Because until now I was convinced that the heading error is also present in auto takeoff mission item. |
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No navigation other than heading lock |
in TAKEOFF mode with either very poor yaw source or no yaw source we need to use ground vector and wait for sufficient ground speed
fixes #28681