From 613b94fc88eac702a0f19328c170cb98522a9758 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Sun, 15 Dec 2024 19:00:14 -0600 Subject: [PATCH] 4.7:do-return-path-start --- .../docs/common-do-return-path-start.rst | 25 ++++++++++++++++++ .../source/docs/common-mission-planning.rst | 7 ++--- images/do-return-path-start.jpg | Bin 0 -> 47212 bytes 3 files changed, 29 insertions(+), 3 deletions(-) create mode 100644 common/source/docs/common-do-return-path-start.rst create mode 100644 images/do-return-path-start.jpg diff --git a/common/source/docs/common-do-return-path-start.rst b/common/source/docs/common-do-return-path-start.rst new file mode 100644 index 0000000000..47d4177c05 --- /dev/null +++ b/common/source/docs/common-do-return-path-start.rst @@ -0,0 +1,25 @@ +.. _common-do-return-path-start: + +========================================== +Using DO_RETURN_PATH_START Mission Command +========================================== + +While the :ref:`DO_LAND_START ` mission command provides a means of defining a "landing sequence" that can be directly jumped to for autolandings or failsafe actions, in some cases this direct path might result in breaching fences or flying into obstacles. + +The DO_RETURN_PATH_START mission command can be used to mark a place or places in the mission sequence, before the :ref:`DO_LAND_START `, that the vehicle should directly rejoin the mission path at the closet point on the mission leading toward the :ref:`DO_LAND_START ` sequence, rather than directly to the :ref:`DO_LAND_START `. As shown below: + +.. image:: ../../../images/do-return-path-start.jpg + :target: ../_images/do-return-path-start.jpg + +Imagine above that the vehicle takes off, flies to WP2 and 3, and if one were to fly up and look at the lake but then have a failsafe, the vehicle would fly directly back to the DO_LAND_START tag, crashing thru the tree, exclusion fence, etc. But if a DO_RETURN_PATH_START mission item is inserted after WP 3, then the vehicle would return to the mission path, proceed to the waypoint after the DO_LAND_START tag and LAND safely. + +Multiple DO_RETURN_PATH_START items can be placed in the mission sequence to tailor the return. It is not necessary that the sequence include a :ref:`DO_LAND_START `, but if it does, the return to the mission will occur after the DO_RETURN_PATH_START mission command but before the :ref:`DO_LAND_START `. + +[site wiki="plane"] +In Plane, set :ref:`RTL_AUTOLAND` to 4 to use this. +[/site] +[site wiki="copter"] +In Copter, set any failsafe action to DO_LAND_START, whether or not one exists in the mission. + +.. note:: if a DO_LAND_START or DO_RETURN_PATH_START does not exist in the mission, RTL will occur. +[/site] \ No newline at end of file diff --git a/common/source/docs/common-mission-planning.rst b/common/source/docs/common-mission-planning.rst index 0c2c5577fa..40eeb15c73 100644 --- a/common/source/docs/common-mission-planning.rst +++ b/common/source/docs/common-mission-planning.rst @@ -16,20 +16,21 @@ This section contains articles about creating missions that will run when the ve .. toctree:: :maxdepth: 1 - + [site wiki="rover,copter"] Recording Waypoints for a Mission -[/site] +[/site] Planning a Mission with Waypoints and Events [site wiki="copter"] mission-command-list [/site] - + Mission Command List Camera Control in Auto Missions Rally Points DO_LAND_START + DO_RETURN_PATH_START Geotagging Images with Mission Planner [site wiki="plane"] diff --git a/images/do-return-path-start.jpg b/images/do-return-path-start.jpg new file mode 100644 index 0000000000000000000000000000000000000000..284d42ba1d4cd6137658dd259527f60ada95fb8f GIT binary patch literal 47212 zcmeFZ2UJttw=Wt+MLcBuEEIC?Sw!=WV}p-+kxZao%|EmNUltk8w9+uWYjS+H1~L=K9UwTr128<{ad- zzK)&_mr2)PJ>K#oI>91?;Y1+NZ)r}iP?|9Y)+NE*WO z&-aJHn^z!U3ONm)M&SA9_!~U`Fh%Eo%^*l~{IZ0vsy@ahBy`-wmQ{CUa0Wj%b9 zh2oL}U9{KM|nBO2=#}DfsMzI{?h8*TP#KLum*#?1vvLF3Nygw@Za~wL%a^&bS zR!|HM@PX>np!h5-pwLG_iNU8s!26IRTt~UjU%7tljLCi03tl{mFXA$fi`^)1<~1E8 zi7P#L_L7aAk6%DgNJ3IdTIQm%imIBr#?_m*ZtLjY(bG3Gx3ILbwy|}3=={j#v8$W6 zkFTG9Kw!|T*P&tIZ{9}4C%jKgO8)RMB`Z58H!r`Su&AQ4s=B83%h$S=*0%PJ&hK5_ 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