Scripting: SorNav V0.9.41

Fixed a critical logic bug in the anti-stuck feature
 where the script would not re-engage the original
waypoint after completing an upwind repositioning maneuver.
Update the readme.md.

Author: robustini

libraries/AP_Scripting/applets/SoarNav.lua

@@ -1,6 +1,6 @@
 --[[
 SoarNav: an advanced feature for hunting thermals by Marco Robustini.
--- Version 0.9.4 - 2025/07/31
+-- Version 0.9.41 - 2025/08/01
 
 In early versions of SOAR mode in Ardupilot, which I collaborated on with
 the author, when the glider exited THERMAL mode the heading pointed
@@ -130,6 +130,9 @@ Script Parameters (SNAV_*)
 ================================================================================
 CHANGELOG / DEVELOPER NOTES
 ================================================================================
+- v0.9.41 (2025/08/01): Fixed a critical logic bug in the anti-stuck feature
+  where the script would not re-engage the original waypoint after completing
+  an upwind repositioning maneuver.
 - v0.9.4 (2025/07/31): Major refactoring to leverage native ArduPilot APIs
   (e.g., Location objects, get_distance, offset_bearing) instead of manual
   Lua calculations. This drastically improves precision, performance, and
@@ -422,6 +425,7 @@ local function calculate_bearing(lat1, lon1, lat2, lon2)
         end
         return t
     end
+    
     local brng = math.deg(atan2(y, x))
     if brng < 0 then brng = brng + 360 end
     return brng
@@ -1601,6 +1605,15 @@ update_body = function()
 
             if SoarNavGlobals.distance_to_wp ~= -1 and SoarNavGlobals.distance_to_wp < (p_wp_radius:get()) then
                 if SoarNavGlobals.is_repositioning then
+                    log_gcs(MAV_SEVERITY.INFO, 1, "Repositioned. Re-engaging original target.")
+                    SoarNavGlobals.target_loc = SoarNavGlobals.original_target_loc
+                    SoarNavGlobals.is_repositioning = false
+                    SoarNavGlobals.original_target_loc = nil
+                    SoarNavGlobals.waypoint_start_time_ms = millis()
+                    SoarNavGlobals.distance_to_wp = -1
+                    SoarNavGlobals.stuck_counter = 0
+                    SoarNavGlobals.last_progress_check_ms = 0
+                    SoarNavGlobals.distance_at_last_check = -1
                 else
                     log_gcs(MAV_SEVERITY.INFO, 1, "Waypoint reached.")
                     if SoarNavGlobals.current_selected_hotspot

libraries/AP_Scripting/applets/SoarNav.md

@@ -30,12 +30,16 @@ completely.
 ## SNAV_LOG_LVL
 
 Sets the verbosity level of messages sent to the Ground Control Station.
-A value of 0 (Silent) reports only critical script errors. A value of 1
-(Events) is the default and reports key events like script start/stop,
-waypoint reached, new waypoint generation, and thermal memory
-recording; this is ideal for standard use. A value of 2 (Detailed Status)
-includes all Level 1 events plus a periodic status report with detailed
-navigation, grid, and thermal memory data for in-depth debugging.
+
+    0 (Silent): Only critical script errors are reported.
+
+    1 (Events): [Default] Reports key events like script start#stop,
+    waypoint reached, new waypoint generation, and thermal memory
+    recording; this is ideal for standard use.
+
+    2 (Detailed Status): Includes all Level 1 events plus a periodic
+    status report with detailed navigation, grid, and thermal memory
+    data for in-depth debugging.
 
 ## SNAV_MAX_DIST
 
@@ -55,26 +59,20 @@ The acceptance radius in meters. Defines the distance to a waypoint
 at which it is considered 'reached' and a new target is generated.
 The default is 30 meters.
 
-## SNAV_NAV_P / SNAV_NAV_D
+## SNAV_NAV_P # SNAV_NAV_D
 
 These are the gains for the script's internal PD (Proportional-Derivative)
 navigation controller, which commands roll based on heading error.
 SNAV_NAV_P is the proportional gain; higher values result in a more
-aggressive response to heading errors. The default is 0.6.
-SNAV_NAV_D is the derivative gain; this helps to dampen the
-response for smoother control and prevent overshoot. The default is 0.05.
+aggressive response. SNAV_NAV_D is the derivative gain, which helps to
+dampen the response for smoother control.
 
 ## SNAV_TMEM_ENABLE
 
 Enables (1) or disables (0) the Thermal Memory feature. When enabled,
-the script will remember and return to previously found lift areas.
-
-## SNAV_TMEM_CHANCE
-
-The base probability, as a percentage (0-100), that the script will
-choose to navigate towards a known thermal instead of exploring a new
-grid cell. This chance is dynamically adjusted by the script based on
-recent success in finding thermals. Default is 50%.
+the script will remember and return to previously found lift areas. The
+probability of navigating to a known thermal versus exploring the grid
+is dynamically adjusted based on recent success.
 
 ## SNAV_TMEM_LIFE
 
@@ -86,13 +84,13 @@ The default is 1200 seconds (20 minutes).
 
 A compensation factor used to estimate the upwind position of a
 thermal relative to where it was detected. This improves the accuracy
-of the thermal memory by accounting for wind drift. The default is 60.
+of the thermal memory by accounting for wind drift.
 
 # Operation
 
 ## Installation and Setup
 
-    Place the SoarNav.lua script into the APM/SCRIPTS directory
+    Place the SoarNav.lua script into the APM#SCRIPTS directory
     on the flight controller's microSD card.
 
     Set SCR_ENABLE to 1 and reboot the flight controller.
@@ -112,16 +110,16 @@ of the thermal memory by accounting for wind drift. The default is 60.
 
 You must choose one of two methods to define the operational area.
 
-Radius Mode is enabled by setting SNAV_MAX_DIST to your desired
-search radius in meters (e.g., 500). The script will operate within this
-circle.
-Polygon Mode is enabled by setting SNAV_MAX_DIST to 0. This requires
-a file named snav.poly in the root directory of the microSD card.
-This flight area file can be easily generated and saved using the
-Mission Planner interface. The file should contain a list of GPS
-coordinates (latitude longitude, space-separated) defining the
-vertices of your flight area, one vertex per line. The script will
-automatically close the polygon.
+    Radius Mode is enabled by setting SNAV_MAX_DIST to your desired
+    search radius in meters (e.g., 500). The script will operate within
+    this circle.
+
+    Polygon Mode is enabled by setting SNAV_MAX_DIST to 0. This requires
+    a file named snav.poly in the root directory of the microSD card.
+    The file should contain a list of GPS coordinates (latitude
+    longitude, space-separated) defining the vertices of your flight
+    area, one vertex per line. The script will automatically close the
+    polygon if the last point is not the same as the first.
 
 ## In-Flight Use
 
@@ -153,16 +151,16 @@ navigation a few seconds after the sticks are returned to center.
 
 ## Persistent Manual Override (Roll Gesture)
 
-A rapid sequence of full left-right-left-right roll stick
-movements toggles a persistent manual override. This allows the pilot
-to fly freely without the script resuming automatically. Repeat the
-gesture to deactivate the override and return control to SoarNav.
-GCS messages will confirm the state change.
+A rapid sequence of full roll stick movements toggles a
+persistent manual override. This allows the pilot to fly freely without
+the script resuming automatically. Repeat the gesture to deactivate the
+override and return control to SoarNav. GCS messages will confirm the
+state change.
 
 ## Area Re-Centering (Pitch Gesture)
 
-If using Radius Mode, a rapid sequence of full
-up-down-up-down-up pitch stick movements will re-center the
-circular search area to the aircraft's current location. This is useful
-for shifting the focus of exploration during a long flight. This
-gesture is only active when you have temporary stick override.
+If using Radius Mode, a rapid sequence of full pitch stick
+movements will re-center the circular search area to the aircraft's
+current location. This is useful for shifting the focus of exploration
+during a long flight. This gesture is only active when you have a
+temporary stick override engaged.