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mission block: fix incorrectly calculated ccw loiter exit #19487

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merged 2 commits into from
Apr 19, 2022
Merged

mission block: fix incorrectly calculated ccw loiter exit #19487

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b0a6ae0
mission block: fix incorrectly calculated ccw loiter exit
Apr 14, 2022
f7f2d3f
mission block: update comment on orbit exit location
Apr 19, 2022
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7 changes: 4 additions & 3 deletions src/modules/navigator/mission_block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -466,9 +466,10 @@ MissionBlock::is_mission_item_reached()
_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT)) {

float bearing = get_bearing_to_next_waypoint(curr_sp.lat, curr_sp.lon, next_sp.lat, next_sp.lon);
// We should not use asinf outside of [-1..1].
const float ratio = math::constrain(_mission_item.loiter_radius / range, -1.0f, 1.0f);
float inner_angle = M_PI_2_F - asinf(ratio);

// calculate (positive) angle between current bearing vector (orbit center to next waypoint) and vector pointing to tangent exit location
const float ratio = math::min(fabsf(_mission_item.loiter_radius / range), 1.0f);
float inner_angle = acosf(ratio);
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// Compute "ideal" tangent origin
if (curr_sp.loiter_direction > 0) {
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