shift_tracking
Pilot nav shift variable to track an offset in navigation Typical use is to Control a fixed-wing to use both GPS and local position (from Decawave modules for instance) to land it with precision or in a net. Data are coming from POSITION_ESTIMATE ABI message. See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on UAV landing in a net.
SHIFT_TRACKING_ |
||
|---|---|---|
Name |
Value |
Description |
ID |
ABI_BROADCAST |
ABI binding ID |
DIR |
1.0, 0., 0. |
direction to track expressed in the local pos frame |
KP |
1.5 |
proportional gain |
KI |
0.5 |
integral gain |
KD |
1.0 |
derivative gain |
MAXSHIFT |
30. |
maximum offset control |
MAXSUM |
30. |
maximum integral part |