PX4
Loiter counterclockwise NAV_LOITER_RADIUS in firmware 1.11.3
I want to loiter counter clockwise. When I do the mission plan I can do that with a - in front of the raduis I want to fly the Loiter WP. But when not reaching the altitude of Loiter WP it loiters clockwise with the value we gave at NAV_LOITER_RAD. This leads to problems because the plane has to change to counter clockwise then. How can I loiter counterclockwise when using NAV_LOITER_RAD?? Will a - in front of the value do it?
No, outside of a mission loiter it will always loiter CW. We would need a small code change to change the loiter default to CCW with a negative parameter NAV_LOITER_RAD - would you be able to make that change?
Let's make an explicit parameter for the direction. Let's also have a look at the mission interface for loiter direction (also separate instead of sign of loiter_radius field).
No I am not able to make the code change..
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On Wednesday, February 15th, 2023 at 10:56 AM, Silvan Fuhrer @.***> wrote:
No, outside of a mission loiter it will always loiter CW. We would need a small code change to change the loiter default to CCW with a negative parameter NAV_LOITER_RAD - would you be able to make that change?
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To make sure we talk all of the same thing: You want to be able to change the default loiter direction from CW to CCW through a parameter? When would you for example set that?
Ya. Actually I think it should be qgc side but we need firmware support for it. + cw and - ccw is prob all we need.
Ya. Actually I think it should be qgc side but we need firmware support for it. + cw and - ccw is prob all we need.
Can you elaborate what you mean with "should be qgc side"? Are you talking about the option to set the loiter direction for a GoTo setpoint? Or how else do you command loiters?
Oh I guess you're right. disregard last comment. You need the ability both to be able to change the direction (cw/ccw) in the params so when you hit it via RC switch or QGC mode to loiter it goes the direction you want but what I meant (also) was that when clicking goto, you could also set the direction (which is done param side), it's only in mission plans you can choose the direction
Recap:
Mission modes are fine, the ability to choose direction is already there Non-mission modes: direction (cw/ccw) is chosen based on a param. Logic should listen to this in loiter mode, loiter switch via RC and Goto setpoint via QGC. What I would think would be good QGC side is to be able to also set a goto setpoint and tell it which direction I want.
I think the best should be to have a parameter or 2 with a Loiter/Hold mode categeroy and then you can choose left for ccw and right for cw to have. So you then can put the hold mode/goto and mission mode loiter seperately
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On Wednesday, August 14th, 2024 at 6:59 PM, Ryan Johnston @.***> wrote:
Oh I guess you're right. disregard last comment. You need the ability both to be able to change the direction (cw/ccw) in the params so when you hit it via RC switch or QGC mode to loiter it goes the direction you want but what I meant (also) was that when clicking goto, you could also set the direction (which is done param side), it's only in mission plans you can choose the direction
Recap:
Mission modes are fine, the ability to choose direction is already there Non-mission modes: direction (cw/ccw) is chosen based on a param. Logic should listen to this in loiter mode, loiter switch via RC and Goto setpoint via QGC. What I would think would be good QGC side is to be able to also set a goto setpoint and tell it which direction I want.
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