Open dvornikov-aa opened 4 years ago
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.
FYI @bresch
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.
@dvornikov-aa is this still an issue or have you found a solution or workaround?
@julianoes yes, the problem is still there. The solution was not found yet.
And is it also there in master/1.11?
@dusan19 do you have an idea about this?
I see that, precland doesnt set the triplet yaw.
The triplets were updated only 3 times in this log, each time the yaw was invalid which should result in the flight task calling _set_heading_from_mode()
.
So the yaw sp should be towards setpoint until the drone is close horizontally to the position setpoint when the yaw sp should become locked.
Im not sure why this doesnt happen.
I see that the triplet.current.valid is true but triplet.current.position_valid
is false
, but the triplet position is finite so the flight task still uses these finite values (checks for is_finate
rather than the valid flag).
Also _set_heading_from_mode()
computes the distance to _target
, but the _target
is set after the _set_heading_from_mode()
is called, so _target
from the previous iteration is used, this might be relevant in this case when the triplet is not updated all the time.
Anyway it would require more detailed debugging, also I never used precland outside of the mission
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.
I am facing the same issue on v1.14.0 with a custom drone in simulation (gazebo-classic), but it's really hard to track down the issue. The yaw of the setpoint triplets is always 0, however the drone is changing the yaw and moving towards the target.
Drone rotates towards setpoints and subsequently fails to land on the target if precision landing starts outside of the mission (by command
commander mode auto:precland
) . The drone yaw was always 0 in 1.8.x. The worst part is that I can't reproduce this behavior in SITL or HITL.Steps to reproduce the behavior:
commander mode auto:precland
.Expected behavior The drone yaw must always be constant to perform a successful precise landing.
Log Files and Screenshots Log
Drone: F450-based Quadrotor x