Fixed Wing Loiter Modes - Orbit and Figure 8 #26194
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No flaws found |
| <Badge type="tip" text="PX4 v1.12)" /> | ||
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| Orbit loiter mode allows you to set a position that the vehicle travels to, and then orbits following a circular path. | ||
| Unlike the "default loiter" hold mode, the sticks can be used to control the radius and the velocity. |
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The https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT command allows you to control the radius of loiter and the speed and direction of loiter. On MC you can do this using both sticks and via the Mavlink command.
In theory FW should allow the radius to be set by sticks and might allow some control over the speed (within limits), and direction. What does it actually respect from MAVLink and the sticks?
I.e. it might be this line is wrong - all you can do is set the centre point and loiter radius via mavlink, and sticks are ignored.
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| <Badge type="tip" text="PX4 v1.15)" /> <Badge type="warning" text="Experimental" /> | ||
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| Figure 8 loiter mode allows you to loiter the vehicle in a figure 8 path, as defined by the radius of two circles. |
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Same question here for Loiter mode as above https://github.com/PX4/PX4-Autopilot/pull/26194/files#r2656739145
What parameters in the https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FIGURE_EIGHT command are respected, and is there any control over the movement via sticks?
| make px4_sitl gz_rc_cessna | ||
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| Note that at time of writing Figure8 loitering is not supported in QGC ([QGC##12778 Need Support Figure of eight (8 figure) loitering](https://github.com/mavlink/qgroundcontrol/issues/12778)) so you will need to trigger the operation directly via MAVLink. |
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Note this - not yet supported in QGC:
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/enabling-the-figure-of-eight-mode/48081/9 |
Following question in https://discuss.px4.io/t/enabling-the-figure-of-eight-mode/48081/8 this adds docs for
Testing shows that figure 8 and orbit loiter are implemented as loiter modes within hold mode on FW, and not as distinct modes such as Orbit mode in MC.
As such, this is implemented as a "Loiter modes" section under the FW Hold mode doc.
There are questions about the implementation inline.