approach_moving_target

Approach a moving target (e.g. ship) along a diagonal.

Section APPROACH_MOVING_TARGET
APPROACH_MOVING_TARGET_
Name	Value	Description
CUTOFF_FREQ_FILTERS_HZ	0.5	low pass filter on WP position
SLOPE	35.0	[degrees] the angle of the slope for the approach
DISTANCE	60.0	[m] the initial distance to start the approach
SPEED	-1.0	[m/s] the approach speed along the slope
ERR_SLOWDOWN_GAIN	0.25	slowing down when arriving
POS_GAIN	-1.0	P-gain
SPEED_GAIN	-1.0	D-gain
RELVEL_GAIN	-1.0	RelVel-gain

Depends