ArduPilot/ardupilot

Rover: boats entering SmartRTL should loiter during path cleanup and during failure

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#11,285 opened on May 7, 2019

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EnhancementRovergood first issue

Description

There are two places in mode_smart_rtl.cpp where stop_vehicle() is called (see here).

This is fine for Rovers but for boats they should ideally Loiter (i.e. hold position) if they can during the SmartRTL_WaitForPathCleanup and SmartRTL_Failure stages.

Guided mode's behaviour when _guided_mode == Guided_WP can be used as a reference on how this can be done.

Contributor guide

Tech stack
cpp
Domain
backend
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
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++ programmingArduPilot codebase familiarityUnderstanding of SmartRTL mode
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65
Research direction
Review the two calls to stop vehicle() in mode smart rtl.cpp (around line 40). For boats, replace these with loiter behavior by referencing guided mode's approach in mode guided.cpp (case Guided WP). Implement a function to command loiter (e.g., set desired location with current position) instead of stopping. Test on a boat simulation and consult maintainers for vehicle specific parameters.