ArduPilot/ardupilot

Rover: Guided mode's wp_bearing is incorrect for some sub modes

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#11,284 opened on May 7, 2019

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BUGRovergood first issue

Description

While working on this PR: https://github.com/ArduPilot/ardupilot/pull/11283 I found that Guided mode's wp_bearing valueis incorrect for some submodes.

Guided uses the mode.cpp's wp_bearing method which calls the navigation library. This works when _guided_mode == Guided_WP but is incorrect when it's Guided_HeadingAndSpeed, Guided_TurnRateAndSpeed and Guided_Loiter.

We should override the wp_bearing for Guided mode and then handle these other sub modes. For example, for Guided_HeadingAndSpeed we should use the target heading. For Guided_TurnRateAndSpeed we should return 0.0f. For Guided_Loiter we should call ModeLoiter's wp_bearing.

Contributor guide

Tech stack
cpp
Domain
backend
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
C++ArduPilot codebase basics
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40
Research direction
Examine the existing wp bearing method in mode.cpp. Understand how each guided submode (Guided WP, Guided HeadingAndSpeed, Guided TurnRateAndSpeed, Guided Loiter) currently calculates bearing. Override wp bearing for Guided mode and implement correct logic for each submode, referencing ModeLoiter's wp bearing for Loiter.