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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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AP_SmartRTL algorithm breaks on Circle mode #20716

Open peterbarker opened 2 years ago

peterbarker commented 2 years ago

Bug report

Issue details

A flight on the weekend showed a problem where the SmartRTL buffer filled up while the vehicle was in circle mode, and SmartRTL disengaged.

This is trivially reproducible in SITL:

mode loiter
arm throttle
rc 3 2000
mode circle
rc 3 1500
set sim_speedup 100

Version master

Platform [ ] All [ ] AntennaTracker [ X ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type Chimera

Hardware type Lumeneer H743

Logs n/a - reproducible in SITL

rmackay9 commented 2 years ago

@peterbarker,

It's not really a bug though is it? It's just running out of space in the buffer right?

muramura commented 2 years ago

This phenomenon has existed since SMARTRTL was released. I saw the same message that I could not SMARTRTL in the same way, in circle mode, when I let it rise.

peterbarker commented 1 month ago

@peterbarker,

It's not really a bug though is it? It's just running out of space in the buffer right?

I believe it is - one of the phases should be cutting the loops out so you'll never grow past a certain point.

This is still reproducible on master.

rmackay9 commented 1 month ago

I'm pretty certain that it is cutting loops so I suspect it is that the loops are too small or the vehicle's altitude is drifting