Rover. Go To Location

alimafo · April 3, 2020, 9:00am

Aion Robotics R1 UGV.

I want to execute the “Go To Location” command according to:

After doing:

Result: no movement and:

Please, help! What could be the problem?

JulianOes · April 5, 2020, 8:49am

This might be an edge case because we’re in Hold mode and a rover is told not to move in Hold mode.

I would try to reproduce it in SITL and debug what is going on in the position controller:

github.com

PX4/Firmware/blob/025799248c9118e728208d90dc8282bcef0d698c/src/modules/rover_pos_control/RoverPositionControl.cpp#L228-L240


		if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
			// Because of noise in measurements, if the rover was always trying to reach an exact point, it would
			// move around when it should be parked. So, I try to get the rover within loiter_radius/2, but then
			// once I reach that point, I don't move until I'm outside of loiter_radius.
			// TODO: Find out if there's a better measurement to use than loiter_radius.
			if (dist > pos_sp_triplet.current.loiter_radius) {
				_waypoint_reached = false;


			} else if (dist <= pos_sp_triplet.current.loiter_radius / 2) {
				_waypoint_reached = true;
			}


			should_idle = _waypoint_reached;