ArduPilot/ardupilot

Rover: Guided mode's wp_bearing is incorrect for some sub modes

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#11,284 opened on May 7, 2019

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BUGRovergood first issue

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Description

While working on this PR: https://github.com/ArduPilot/ardupilot/pull/11283 I found that Guided mode's wp_bearing valueis incorrect for some submodes.

Guided uses the mode.cpp's wp_bearing method which calls the navigation library. This works when _guided_mode == Guided_WP but is incorrect when it's Guided_HeadingAndSpeed, Guided_TurnRateAndSpeed and Guided_Loiter.

We should override the wp_bearing for Guided mode and then handle these other sub modes. For example, for Guided_HeadingAndSpeed we should use the target heading. For Guided_TurnRateAndSpeed we should return 0.0f. For Guided_Loiter we should call ModeLoiter's wp_bearing.

Contributor guide

Research direction
Override wp bearing in Guided mode to handle submodes: for Guided HeadingAndSpeed use target heading; for Guided TurnRateAndSpeed return 0.0f; for Guided Loiter call ModeLoiter's wp bearing.
Tech stack
cpp
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75