Number of trials for reaching target point

[ricardo...@gmail.com]

Hi guys,

In past, we asked you for reaching a target point and you helped us a lot for our ASV. We are very appreciated for that. This time we are wondering that if we are increasing the sensitivity of radius of acceptance, because of flow or gps deviation sometimes the vehicle cannot reach the target. It gets in a loop while trying to reach target and the mission will cut off. We do not want that. Is there any chance that could vehicle make limited number of trials to reach the point. For example, after making 5 turns and trials, vehicle stops trying, put a flag that it failed for that point and it continues for another points to finish entire mission. In this way, mission can accomplish with high sensitivity and small number of fails. Which Task or config parameter is related for this configuration we don't know. If you guys help us for that we will very pleased.

Good working for all of you. Thank you.

[José Braga]

Hi

As far as I know there is no such logic implemented. I believe something generic for all maneuvers would be harder to do and test. If you look at the Goto specific code (assuming you use that maneuver the most) maybe just a few lines will do the trick..

Good luck,

José Braga

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[Kristoffer Gryte]

Hi,

I know that this is not what you're asking, but maybe an option could be to implement a different function for calculating when a maneuver is considered completed. This can be done by overloading the getEta-function, see https://github.com/LSTS/dune/issues/93 For fixed-wing UAVs I think it makes more sense to signal completion when passing a line that is perpendicular to the path, rather than a circle/ellipse of acceptance, so we have overloaded getEta like this:

        // override PathController getEta, to signal maneuver 

        // completion upon passing the line perpendicular to the WP

        double

        getEta(const TrackingState& ts)

        {

          double speed = getSpeed();

          double time_factor = getTimeFactor();

          double errx = ts.track_length - ts.track_pos.x;

          double eta = errx/speed;

          return std::min(65535.0,eta - time_factor);

        }

Hope this can be of help,

Kristoffer