approach_moving_target
Approach a moving target (e.g. ship) along a diagonal.
APPROACH_MOVING_TARGET_ |
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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
- target_pos