ArduPilot
AP_DDS: Add trajectory tracking control for Plane
Feature request
Is your feature request related to a problem? Please describe.
The external control interface currently supports velocity control in body and earth frame. While #25381 is intended for high-level waypoint control, there is another desired form - trajectory control, that works well for plane.
Describe the solution you'd like
- Design/pick a ROS message for trajectory control, based on mavlink, REP-147, and current research.
- Add the interface for trajectory control in AP_ExternalControl
- Implement the trajectory control in Plane
- Write up a ROS 2 example demonstrating usage on a lemniscate or oval pattern
- Contribute documentation to the wiki on how to run it
Describe alternatives you've considered
Velocity control as a workaround
Platform [ ] All [ ] AntennaTracker [ ] Copter [ x] Plane [ ] Rover [ ] Submarine
Additional context
https://ieeexplore.ieee.org/document/5611328
Hello Ryan. Is someone working on this issue actively? If not, I'd like to work on this issue.
I believe we can already control the position and yaw of a fixed-wing in guided mode. Do we need further inner-loop control with this?
Yea, I thought so too. Did you see this PR? https://github.com/ArduPilot/ardupilot/pull/26143
These two PRs adapt the L1 nav controller for path guidance in plane:
- https://github.com/ArduPilot/ardupilot/pull/26328
- https://github.com/ArduPilot/ardupilot/pull/26339
