search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
8.2k stars 13.37k forks source link

Aircraft not automatically disarming while in Land flight mode #13408

Open Zaposa opened 4 years ago

Zaposa commented 4 years ago

Describe the bug I'm having an issue where my hexacopter will not disarm once the aircraft has landed. The aircraft was flown in Position flight mode (or Stabilize flight mode) and then changed to Land flight mode. The aircraft is able to successfully descend and touch the ground successfully. However, instead of disarming, the motors speed up, which results in the aircraft wanting to tip over and crash.

I have looked on the internet and I have found that it is important to get the hover throttle percentage correct as well as the manual minimum throttle percentage. I have adjusted these values but still no success. I also changed the parameter (COM_DISARM_LAND) to 0.1 seconds, but still no success.

I know that there isn’t an issue with the actual aircraft as I have managed to successfully perform a mission using APM firmware, where it was able to land and disarm safely.

Is this possibly an issue with the firmware or does someone perhaps know a solution to this problem?

P.S. I have disabled the arming switch (changed parameter CBRK_IO_SAFETY from 0 to 22027)

To Reproduce Steps to reproduce the behavior:

  1. Disable arming switch
  2. Change flight mode to Position or Stabilize
  3. Arm & takeoff to an altitude between (5 - 10 metres)
  4. Switch flight mode to Land

Expected behavior The aircraft should land and disarm successfully and not want to tip over and crash.

Log Files and Screenshots https://logs.px4.io/plot_app?log=bc0410c1-4285-4781-bf1b-b6ddee3b120d

Drone DJI F550 Flame Wheel (hexacopter)

julianoes commented 4 years ago

Thanks for the issue and the log. @bresch do you see what the issue is? Is this expected with 1.9.2?

RodBelaFarin commented 4 years ago

I have exactly the same problem with my Multicopter. Any updates on this?

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

bresch commented 4 years ago

We're planning to review the land detection logic in the near future. Please post logs here if you still have an issue with the land detector.

Antiheavy commented 4 years ago

We're planning to review the land detection logic in the near future.

@bresch are you planning to review MC land detector, FW land detector, or both? (I have comments related to FW land detector if that is with scope of your effort).

bresch commented 4 years ago

@Antiheavy I'll mainly focus on the MC land detector, but please, share your ideas for FW; I'll keep them in mind if I need to rework the interface.

haihai008 commented 4 years ago

I've had the same problem using APM firmware. Finally, it was found that flight control had installed ultrasonic height detection equipment, and it was normal to restore the default settings.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.