ArduPilot / ArduPilot/ardupilot
Copter: SmartRTL should give roll/pitch control back to pilot earlier while landing
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- Dominant language
- C++
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Description
SmartRTL (released with Copter-3.6) returns along the path the vehicle flew until it reaches home.
SmartRTL will return roll-pitch control to the pilot once the vehicle has reached the end of the return path. It may be however that the final point on the path is very very close to home (within 2m or so) meaning the pilot really doesn't regain control of the vehicle until the very last moment.
It would be good to check that we don't unnecessarily make points very close to home during takeoff and/or find another way to return roll/pitch control to the pilot when the vehicle is more like 10m from home.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by locating the Copter SmartRTL implementation and the landing-time roll/pitch control handoff described in the issue. Compare how final return-path points are created near home and define completion as returning roll/pitch control to the pilot when the vehicle is about 10m from home without unnecessarily delaying until the last moment.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100