fix(fw_lat_lon_control): use tailsitter fixed-wing heading - #28656
Merged
mbjd merged 1 commit intoSep 10, 2026
Merged
mbjd merged 1 commit into
mbjd merged 1 commit into
Conversation
Copy link
Copy Markdown
Contributor
Sorry, something went wrong.
Copy link
Copy Markdown
Contributor
🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 32 byte (0 %)] FILE SIZE VM SIZE
-------------- --------------
+0.0% +32 +0.0% +32 .text
+6.1% +16 +6.1% +16 FwLateralLongitudinalControl::getGuidanceQualityFactor()
+3.0% +8 +3.0% +8 FwLateralLongitudinalControl::getCorrectedLateralAccelSetpoint()
+4.3% +4 +4.3% +4 FixedWingModeManager::control_backtransition_heading_hold()
+0.5% +4 +0.5% +4 FixedWingModeManager::vehicle_attitude_poll()
+0.0% +26 [ = ] 0 .debug_abbrev
-0.0% -8 [ = ] 0 .debug_aranges
-0.0% -12 [ = ] 0 .debug_frame
-0.0% -162 [ = ] 0 .debug_info
-0.0% -16 [ = ] 0 .debug_line
+300% +3 [ = ] 0 [Unmapped]
-0.0% -19 [ = ] 0 [section .debug_line]
-0.0% -116 [ = ] 0 .debug_loclists
+50% +1 [ = ] 0 [Unmapped]
-0.0% -117 [ = ] 0 [section .debug_loclists]
+0.0% +21 [ = ] 0 .debug_rnglists
-0.0% -1 [ = ] 0 .debug_str
-0.4% -1 [ = ] 0 .shstrtab
-0.0% -7 [ = ] 0 .strtab
-7.1% -7 [ = ] 0 FwLateralLongitudinalControl::getGuidanceQualityFactor()
-40.0% -16 [ = ] 0 __hrt_call_enter_veneer
+62% +16 [ = ] 0 __perf_set_elapsed_veneer
-0.3% -32 [ = ] 0 [Unmapped]
-0.0% -276 +0.0% +32 TOTAL
FILE SIZE VM SIZE
-------------- --------------
+0.0% +32 +0.0% +32 .text
+6.1% +16 +6.1% +16 FwLateralLongitudinalControl::getGuidanceQualityFactor()
+3.0% +8 +3.0% +8 FwLateralLongitudinalControl::getCorrectedLateralAccelSetpoint()
+4.3% +4 +4.3% +4 FixedWingModeManager::control_backtransition_heading_hold()
+0.5% +4 +0.5% +4 FixedWingModeManager::vehicle_attitude_poll()
+0.0% +26 [ = ] 0 .debug_abbrev
-0.0% -8 [ = ] 0 .debug_aranges
-0.0% -12 [ = ] 0 .debug_frame
-0.0% -162 [ = ] 0 .debug_info
-0.0% -16 [ = ] 0 .debug_line
+300% +3 [ = ] 0 [Unmapped]
-0.0% -19 [ = ] 0 [section .debug_line]
-0.0% -120 [ = ] 0 .debug_loclists
[DEL] -3 [ = ] 0 [Unmapped]
-0.0% -117 [ = ] 0 [section .debug_loclists]
+0.0% +21 [ = ] 0 .debug_rnglists
-0.0% -1 [ = ] 0 .debug_str
-0.4% -1 [ = ] 0 .shstrtab
-0.0% -7 [ = ] 0 .strtab
-7.1% -7 [ = ] 0 FwLateralLongitudinalControl::getGuidanceQualityFactor()
-0.7% -32 [ = ] 0 [Unmapped]
-0.0% -280 +0.0% +32 TOTAL
Updated: 2026-09-10T08:14:16 |
Sorry, something went wrong.
mbjd
self-requested a review
September 10, 2026 07:16
mbjd
requested changes
Sep 10, 2026
mbjd
left a comment
Copy link
Copy Markdown
Contributor
There was a problem hiding this comment.
The fix looks correct, thank you very much. But I think it can be much simplified, achieving the same thing in a single line change (see comments). (what agent are you using? you might benefit from putting some focus on the simplest viable solution in the prompt or doing a simple review/simplify loop)
My LLM is saying that FixedWingModeManager::control_backtransition_heading_hold has the same bug, and I think it can also be fixed by swapping _local_pos.heading to _yaw coming from FixedWingModeManager::vehicle_attitude_poll. Would you mind checking that and doing that fix too if true?
Given that #27793 etc were almost the same bug, it might indeed pay to extract the conversions into a shared helper, certify their correctness with tests, and use consistently everywhere. But no need to do that here & now.
Sorry, something went wrong.
Comment thread
src/modules/fw_lateral_longitudinal_control/GuidanceHeading.hpp
Outdated
Comment thread
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
Outdated
Use the fixed-wing-frame yaw already computed from vehicle attitude for the no-wind heading and track quality check. Use the same adapted yaw when capturing the no-position backtransition heading. Assisted-by: Codex:gpt-5 Signed-off-by: Kirill <exxxim@gmail.com>
UnderMind0x41
force-pushed
the
fix/tailsitter-guidance-heading-frame
branch
from
9d700b1 to
b3481ba
Compare
September 10, 2026 08:07
mbjd
approved these changes
Sep 10, 2026
mbjd
left a comment
Copy link
Copy Markdown
Contributor
There was a problem hiding this comment.
Thanks again :)
Sorry, something went wrong.
mbjd
pushed a commit
that referenced
this pull request
Sep 10, 2026
Use the fixed-wing-frame yaw already computed from vehicle attitude for the no-wind heading and track quality check. Use the same adapted yaw when capturing the no-position backtransition heading. Assisted-by: Codex:gpt-5 Signed-off-by: Kirill <exxxim@gmail.com> Co-authored-by: Kirill <exxxim@gmail.com> (cherry picked from commit 3599328)
mrpollo
pushed a commit
that referenced
this pull request
Sep 10, 2026
Use the fixed-wing-frame yaw already computed from vehicle attitude for the no-wind heading and track quality check. Use the same adapted yaw when capturing the no-position backtransition heading. Assisted-by: Codex:gpt-5 Signed-off-by: Kirill <exxxim@gmail.com> Co-authored-by: Kirill <exxxim@gmail.com> (cherry picked from commit 3599328)
mrpollo
pushed a commit
that referenced
this pull request
Sep 10, 2026
Use the fixed-wing-frame yaw already computed from vehicle attitude for the no-wind heading and track quality check. Use the same adapted yaw when capturing the no-position backtransition heading. Assisted-by: Codex:gpt-5 Signed-off-by: Kirill <exxxim@gmail.com> Co-authored-by: Kirill <exxxim@gmail.com> (cherry picked from commit 3599328)
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Solved Problem
Fixes #28643.
Fixed-wing modules were using raw vehicle_local_position.heading where the already frame-adapted _yaw was needed. On tailsitters this can invert heading relative to ground track and affect backtransition heading hold.
Solution
Use _yaw in the no-wind guidance-quality check and when capturing the no-position backtransition heading. This is a two-line change.
Test coverage