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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Fixed wing can't keep level during takeoff #13979

Open jinchengde opened 4 years ago

jinchengde commented 4 years ago

Describe the bug During the stage of RunwayTakeoffState::TAKEOFF, vehicle can't keep roll level. image

To Reproduce Steps to reproduce the behavior:

  1. set takeoff waypoint
  2. start the mission
  3. reach the speed to climb up
  4. vehicle can't keep roll level

Additional context during the RunwayTakeoffState::TAKEOFF, vehicle should be keep level to prevent overturn https://github.com/PX4/Firmware/blob/master/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h#L60

I‘m not clear why we don't control roll during takeoff stage https://github.com/PX4/Firmware/blob/master/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp#L158

I suggest do the roll control if vehicle start to climb up(RunwayTakeoffState::TAKEOFF) it looks better if we start to control roll if RunwayTakeoffState::TAKEOFF but not CLIMBOUT image

jinchengde commented 4 years ago

It looks like set RWTO_NAV_ALT as 0 to avoid that

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.