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Fixed wing nav: reset WP cross-track tracking state on re-engagement #11640

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Fixed wing nav: reset WP cross-track tracking state on re-engagement #11640

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19 changes: 14 additions & 5 deletions src/main/navigation/navigation_fixedwing.c
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Original file line number Diff line number Diff line change
Expand Up @@ -454,6 +454,13 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
}

if (isWaypointNavTrackingActive()) {
/* Cross-track controller state. Scoped here, not in the control branch, so the
* else branch can re-seed it while the controller is disengaged. */
static float crossTrackErrorRate;
static timeUs_t previousCrossTrackErrorUpdateTime;
static float previousCrossTrackError = 0.0f;
static pt1Filter_t fwCrossTrackErrorRateFilterState;

/* Calculate cross track error */
posControl.wpDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);

Expand All @@ -466,11 +473,6 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta

/* If waypoint tracking enabled force craft toward and closely track along waypoint course line */
if (navConfig()->fw.wp_tracking_accuracy && !needToCalculateCircularLoiter) {
static float crossTrackErrorRate;
static timeUs_t previousCrossTrackErrorUpdateTime;
static float previousCrossTrackError = 0.0f;
static pt1Filter_t fwCrossTrackErrorRateFilterState;

if ((currentTimeUs - previousCrossTrackErrorUpdateTime) >= HZ2US(20) && fabsf(previousCrossTrackError - navCrossTrackError) > 10.0f) {
const float crossTrackErrorDtSec = US2S(currentTimeUs - previousCrossTrackErrorUpdateTime);
if (fabsf(previousCrossTrackError - navCrossTrackError) < 500.0f) {
Expand All @@ -497,6 +499,13 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
adjustmentFactor = constrainf(adjustmentFactor, -limit, limit);
virtualTargetBearing = wrap_36000(posControl.activeWaypoint.bearing - adjustmentFactor);
}
} else {
/* Keep state synced to the current error while not steering, so the
* controller re-engages cleanly on the next leg (no stale-data kick). */
previousCrossTrackError = navCrossTrackError;
previousCrossTrackErrorUpdateTime = currentTimeUs;
crossTrackErrorRate = 0.0f;
pt1FilterReset(&fwCrossTrackErrorRateFilterState, 0.0f);
}
}
/*
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