Reposition: Fix previous valid state to enable proper line following #7717
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LorenzMeier
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Previously the valid flag for the current setpoint was not set to true, leading to no line following on reposition. This made the control response perform a lot worse compared to waypoint control as there was no crosstrack error correction.
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Still needed? |
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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
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@LorenzMeier are you still planning on getting this in? 😄 |
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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Previously the valid flag for the current setpoint was not set to true, leading to no line following on reposition. This made the control response perform a lot worse compared to waypoint control as there was no crosstrack error correction.
It also takes the vehicle velocity now into account to avoid overshoots.