feat: add VTOL control and landing on moving target - #47
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beniaminopozzan wants to merge 11 commits into
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feat: add VTOL control and landing on moving target#47beniaminopozzan wants to merge 11 commits into
beniaminopozzan wants to merge 11 commits into
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Custom mode + executor example demonstrating a full VTOL mission using the PX4-ROS2 Interface Library: inbuilt Takeoff, a custom mode that owns both VTOL transitions (streaming the required TrajectorySetpointType + FwLateralLongitudinalSetpointType combination during each transition, per px4_ros2::VTOL's documented usage) and the fixed-wing cruise leg via FwLateralLongitudinalSetpointType, then inbuilt RTL to return home and land rather than landing wherever the back-transition finishes. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Approach previously used positionReached(), which requires the drone's own velocity to converge near zero before advancing to Descend. That never happens while continuously chasing a moving target's position setpoint, so the mode would get stuck in Approach forever. Add horizontalPositionReached(), checking only horizontal distance to the tag, and use it for the Approach -> Descend transition instead. Descend itself needed no change: it already recomputes its velocity setpoint from the latest tag position every cycle. Also add an optional "px4_namespace" parameter so the mode can target a specific PX4 instance (e.g. "/px4_1/") instead of always defaulting to instance 0, needed when the camera/tracking vehicle isn't the first one spawned. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
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