Fixed wing: predictive coordinated waypoint turns (Needs/Includes #11804) - #11812

Open

b14ckyy wants to merge 35 commits into

iNavFlight:maintenance-10.xfrom

b14ckyy:fw-turn-predictor

Commits on Aug 20, 2026

FW nav: replace roll PT1 smoothing with a triggered S-curve (no steady-state lag)
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10a065f
FW nav: lock cruise course only once rolled out (below 10 deg bank)
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4c9288a
FW nav: address review - drop yaw-rate lead from course lock, align easing cap to 900ms
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37df837

Commits on Aug 21, 2026

FW nav: gate course-lock-on-level behind nav_cruise_lock_on_level (default ON)

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fb3ccf0

Commits on Aug 24, 2026

FW nav: course lock failsafe - force the lock 2.5s after stick centre

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481e544
FW nav: clear the nav PID integrator when a course adjustment ends

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ead7f89
FW nav: speed-aware waypoint turn predictor (FLY_BY / FLY_OVER)
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0cbb147
FW nav: turn feed-forward, energy bank guard, loiter-radius floor, S-curve roll-in
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06dc453
FW nav: stabilised loiter radius + target/ceiling bank semantics + loiter-only headroom
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b14c707
FW nav: arc-based coordinated WP turn coordinator
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3c622f1
FW nav: fix stale arc-coordinator state across nav interruptions
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63170d1
FW nav: review follow-ups - lead-time cap floor + energy guard vs manual throttle
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7d41d87
FW nav: remove leftovers of the superseded arc handback design
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f69b25c
FW nav: loiter FF gate, capture fallback for capped/sharp corners, predictive roll-out lead

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e31dd23
FW nav: coordinated FLY_OVER (tangent exit) + shaped arc roll-out

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c0d4845
FW nav: coordinated FLY_INTO - aligned WP crossing via internal-tangent S

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bf5edef
FW nav: coordinated FLY_OVER with path tracking - bounded-intercept S onto the leg

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27eb7cb
FW nav: consolidate WP turn settings into nav_fw_wp_turn_mode, release debug layout

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02add41
FW nav: leg-line capture - fallback turns converge onto the track when path tracking is on

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8f7fda8
FW nav: autoland approach always flies coordinated FLY_BY turns

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67ec0f2
FW nav: loiter circle controller - steady arc law replaces the additive FF assist

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e8b787f
FW nav: settings wording - bank angle as sustained target, drop dev flags from turn tuning settings

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2d4729e
FW nav: review fixes - DIRECT is a true legacy opt-out, collapse PG bump

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ba6e15d
FW nav: keep the legacy yaw-rate lead when the level gate is off

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175feed

Commits on Aug 26, 2026

Merge remote-tracking branch 'upstream/maintenance-10.x' into fw-turn-predictor

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e44d144
FW nav: use fast_fsqrtf for the turn-arc intersection solves

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d17f2b3
FW nav: close the arc seams and bound the away arc

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4fe56ea
FW nav: keep the legacy yaw-rate lead when the level gate is off

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6cfda67
FW nav: detect a passed waypoint geometrically in WP mode

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6b42e38
FW nav: FLY_INTO marks the waypoint reached at the main-arc commit

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5e4d484
FW nav: gate the turn FF to actual turns, make engage seams continuous

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e452bf0

Commits on Aug 27, 2026

Merge remote-tracking branch 'upstream/maintenance-10.x' into fw-roll-smoothing

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fbdcfa0
Merge branch 'fw-roll-smoothing' into fw-turn-predictor

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965a4a4

Commits on Sep 2, 2026