I was unaware that PX4v1.15 had implemented acceleration-limiting to the heading setpoints and wasted time writing my own jerk-limited version. Don’t be like me!
The algorithm is implemented in HeadingSmoothing.hpp/cpp here. It is implemented only in response to “GoTo” commands, but is easily generalized to work within the framework of FlightTaskAuto to smooth all heading setpoints. This is especially useful if you have a large aircraft such that the yawrate response is not instantaneous.
The main purpose of this post is so that something comes up when you google key phrases. I searched around for something like this that already existed and it didn’t show up in my searches.
yawsmoothing headingsmoothing yaw heading smoothing smooth smoother accel-limited jerk-limited