Skip to content

Update search waypoints to use vehicle position #36

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
beniaminopozzan merged 1 commit into from
Oct 22, 2025
Merged

Update search waypoints to use vehicle position #36

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions px4_roscon_25/precision_land_executor/CustomMode_v2.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -305,12 +305,12 @@ void PrecisionLand::generateSearchWaypoints()
// Generate spiral search waypoints
// The search waypoints are generated in the NED frame
// Parameters for the search pattern
double start_x = 0.0;
double start_y = 0.0;
double start_x = _vehicle_local_position->positionNed().x();
double start_y = _vehicle_local_position->positionNed().y();
double current_z = _vehicle_local_position->positionNed().z();
auto min_z = -1.0;

double max_radius = 2.0;
double max_radius = 1.0;
double layer_spacing = 0.5;
int points_per_layer = 16;
std::vector<Eigen::Vector3f> waypoints;
Expand Down