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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Took off (and crash) even without valid local position #13452

Open Prototyx opened 4 years ago

Prototyx commented 4 years ago

Describe the bug In offboard mode, drone was able to arm and take off without valid local position, after taking off, EKF2 became crazy and then result in crash.

To Reproduce Arm and takeoff in offboard mode with "condition_local_position = false"

Expected behavior Drone takes off and flies away

Log Files and Screenshots log: https://review.px4.io/plot_app?log=5d49c71f-0608-4677-b551-70dfcfe7701d

Here is a screenshot with arming state (yellow) and condition_local_position (pink) image

Drone setup: TBS Discovery PixHawk FMUV2 Firmware: Master PX4Flow EKF2 No GPS

dagar commented 4 years ago

The offboard messages aren't logged by default. What type of offboard message were you sending?

Prototyx commented 4 years ago

For taking off I send firstly a stream of speed setpoints (with Vx and Vy set to 0) . And then after reaching a certain altitude I switch to a stream of position setpoints for X, Y and Z. I did maybe 500 take off with this procedure previously without problems.

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.