Waypoint Follower and vertical guidance

Hello,

I am trying to create a multirotor model for my Master thesis. My model is mainly inspired by the one in the Package Delivery example (so i have a Path Manager forwarding a waypoint to the Waypoint follower and so on).

In my model the Path Manager forwards the "To" Waypoint to the Waypoint Follower; however the WF outputs a "z" coordinate for the Lookahead Point which is not consistent with the one I am expecting: in particular it shows a strange behaviour, like being constantly increasing/decreasing (the UAV follows the LAP faithfully), or "dropping" when reaching a waypoint. On the other hand, the horizontal part of the LAP (coordinates x and y) behave as expected.

I have tried to read the documentation, the referenced article and also the actual code which generates the LAP coordinates to no avail.

In the following picture I show the results of a sample run: the black line represents the output of the path manager (consistent with my waypoint definition), the yellow line is the output of the waypoint follower (which does not even try to oscillate around -40, it simply goes on) and the green line is the actual trajectory.

Is there something I am missing?

Thanks in advance to all who will reply.

GP

[Jianxin Sun]

Hi,

Can you share the set of waypoints you used for path manager? When path manager forward the waypoints, it will forward both "from" and "to" waypoints. The distance between these two waypoints should be larger than the waypoint follower block's transition radius. Otherwise the waypoint follower will always think it has already reached the waypoint and move on the extraploated path based on the "from" and "to" waypoints.

Jianxin

[Giuseppe Paganino]

Hello Jianxin, thanks for your kind reply. The following image contains my set of waypoints. The transition radius is set to 1.

Anyway, I just noticed that - as you suggest - both the "from" and "to" waypoints have to be forwarded to the WF and I currently discard the from one. May this be the problem with my model?

Thank you,

GP

[Jianxin Sun]

For waypoint follower block, it needs at least two distinct waypoints to follow. Maybe consider start from adding two waypoints to the block.