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start Point by Replan #56

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cygong opened this issue Nov 9, 2022 · 3 comments
Open

start Point by Replan #56

cygong opened this issue Nov 9, 2022 · 3 comments

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@cygong
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cygong commented Nov 9, 2022

您好，想问一下关于规划轨迹起始点的问题？在程序里面GEN_NEW_TRAJ使用的起始点的数据式odom获得，而在REPLAN_TRAJ里面使用的起始点的数据是通过上一段轨迹根据当前时间计算出来的。 想问一下，这里面是有什么考虑吗？
@bigsuperZZZX
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odom由于持续的跟踪误差的，由于REPLAN_TRAJ的更新频率较高，如果每次使用odom来更新，该误差会不断累积

@EnderMandS
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REPLAN_TRAJ是通过上一段轨迹根据当前时间计算出来，并没有使用飞机当前位姿。如果飞控对路径规划器的控制指令执行不到位，比如受到较大风力干扰，此时重新规划的路径起点好像是不正确的。如果飞机不在预定规划的位置上，是否能自动纠正？我似乎并没有在代码中找到相关功能函数。除了重新发布目标位置点之外，请问是否有其他解决方法？谢谢

@bigsuperZZZX
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没有这一功能，需要你自己来加哦

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@cygong @bigsuperZZZX @EnderMandS