Rover: L1 navigation overview

This page provides an overview of Rover’s navigation feature including the L1 controller which is also used in Plane. The L1 controller is based on this paper by Sanghyuk Park, John Deyst and Jonathan P How of MIT.



L1 Controller

The final output of the L1 controller’s update_waypoint method is a desired lateral acceleration (shown as “latAccDem” in red below) which should bring the vehicle back to the line between the origin and destination.

The formulas used are also shown below. damping is from the NAVL1_DAMPING parameter. period is from the NAVL1_PERIOD parameter.