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Fix for colinear waypoints #66

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Fix for colinear waypoints #66

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3 changes: 2 additions & 1 deletion rosplane/include/path_manager_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ class path_manager_base

virtual void manage(const struct params_s &params, const struct input_s &input, struct output_s &output) = 0;

rosplane_msgs::State vehicle_state_; /**< vehicle state */

private:

ros::NodeHandle nh_;
Expand All @@ -79,7 +81,6 @@ class path_manager_base

struct params_s params_;

rosplane_msgs::State vehicle_state_; /**< vehicle state */

double update_rate_;
ros::Timer update_timer_;
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15 changes: 14 additions & 1 deletion rosplane/src/path_manager_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,8 @@ void path_manager_example::manage_fillet(const params_s &params, const input_s &
Eigen::Vector3f w_i(waypoints_[idx_b].w);
Eigen::Vector3f w_ip1(waypoints_[idx_c].w);

float chi_e;

float R_min = params.R_min;

output.Va_d = waypoints_[idx_a_].Va_d;
Expand All @@ -148,7 +150,18 @@ void path_manager_example::manage_fillet(const params_s &params, const input_s &
output.lambda = 1;
z = w_i - q_im1*(R_min/tanf(beta/2.0));
if ((p - z).dot(q_im1) > 0)
fil_state_ = fillet_state::ORBIT;
chi_e = atan2f(q_i(1), q_i(0)) - vehicle_state_.chi;
while (chi_e > M_PI_F)
chi_e -= 2*M_PI_F;
while (chi_e < -M_PI_F)
chi_e += 2*M_PI_F;
if (abs(chi_e) > M_PI_F/18)
fil_state_ = fillet_state::ORBIT;
else if (idx_a_ == num_waypoints_ - 1)
idx_a_ = 0;
else
idx_a_++;

break;
case fillet_state::ORBIT:
output.flag = false;
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