Fixedwing and rotorcraft and flightplan primitives not universal

[OpenUAS]

Description

As user I would like to have a flightplan that is usable for as well FW and Rotorcraft mode, A.k.a hybrid vehicle. For this one needs universal fixedwing and rotorcraft and flightplan primitives as a first step. This step would universalizes current flightplan syntax more so fixwing and rotorcraft are unified in primitive syntax. Greater goal: Universal Rotorcraft and Fixedwing...

Stay: The issue with hybrid, 3D prophanger, Quadshot, Cyfoam and the likes

The S word...: "Stay"

A) Stay with fixedwing is like flowering through the "stay" waypoint
B) Stay with rotorcraft is hovering at that waypoint

But...prop hangers, like 3D Stunt planes, Cyfom, Quadshot, X-vert and others can do both! So it is undetermined what exact behavior in the flightplan one wants

Solution

Introduce new primitive used in forward mode which does the same thing as the current fixedwing "Stay" command

Find good primitive term

Stay synonym to choose from: abide, bide, remain, dwell, linger, loiter, dwell - To continue to be in a place: Read more at http://thesaurus.yourdictionary.com/bide#6x2ZVEeWzeLtpGh8.99

The chosen term will be : "abide" behaviour descriptive correct and different enough from "stay". Note that We chose not to use linger in UAS that is well know to be used for hanging around mostly in a circular pattern...

Note

• For this nothing changes for rotorcraft users (100% of users happy..)
• For FW only Stay can still do the same (99% of users happy)
• Hybrid, we just better deterministic flightplans.. (101% of users happy ;)

[OpenUAS]

Assigned to self to work on it... Please add comment, or even better code or solution as a 🎁

[gautierhattenberger]

I'm not really sure to see the issue here. Do you really want to have a hybrid fly over and over above a stay waypoint without hovering ?
I've always think that using stay for a plane should be avoid and use circle instead as the trajectory is much more predictable. If you need to fly over the point, then you can use the eight pattern.
If you really want to force a hybrid type plane to fly over instead of hovering, I think you should put a speed constraint rather than adding a flight plan pattern. If you have a guidance function to set this minimum value, you can use the pre_call or post_call to set it.
Otherwise, adding some more attributes like speed and heading constraints on waypoints was already discussed/requested. I think it is a good idea but it needs to redesign the nav API as it does not comply with this.
And redesigning nav is a long and painful but necessary task anyway.

[noether]

I agree with Gautier. However, I was thinking whether there are any plans for redesigning the nav API. In particular, I was thinking about the integration of the GVF in the nav functions. It is a pity that now we cannot use the gvf properly, but by calling the corresponding c function in the flightplan.

I do not know whether is a good idea just to add gvf_nav functions (so we will have a duplicated set), or to think about primitives like @OpenUAS mentioned. Or even to leave the nav api untouched, and to add an extra layer in the code, so the user can choose carrot/gvf/others as a guidance system in the airframefile (leaving the carrot by default for the older aircraft).

Let me know what you think, so I can open a better ticket.

[OpenUAS]

Do you really want to have a hybrid fly over and over above a stay waypoint without hovering ?
Indeed, energy an string wind wise, e.g. Delftacopter
For now since self assigned and More hybrid flight with all kinds of scenarios coming up

[gautierhattenberger]

I take this out of v5.14 as their is not short term plan to change nav API. But an option to improve things would be to have a look at the rover firmware that allows to attach different kind of nav/guidance loop behind the flight plan primitives.

[OpenUAS]

OK. Thx for good hint

[OpenUAS]

BTW we flew auto2 the Disco on Hybrid Delftacopter code a while ago. Just letting FW "rust" and focusing on adding more FW into ROTORCRAFT is also an option.