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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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RTL: descending before having reached mission land point #15410

Closed ThomasRigi closed 3 years ago

ThomasRigi commented 4 years ago

Describe the bug Upon RTL the drone starts to descend immediately and does not even reach the Land waypoint of the mission. You can see how the horizontal velocity stops suddenly but the controller wants to continue: image

To Reproduce Steps to reproduce the behavior:

  1. Checkout current master (aa7735c)
  2. make px4_sitl gazebo_standard_vtol
  3. Load a mission, e.g. square vtol.zip
  4. Start the mission and observe. (this uses bug #15409 to trigger RTL with the provided .plan file)
  5. Alternatively switch to RTL over QGC once the drone has taken off.

Expected behavior The drone should follow what is outlined in https://docs.px4.io/master/en/flight_modes/return.html . In particular, it should stay at or above RTL_RETURN_ALT until it has reached the landing spot. (or according the cone settings, but the default settings were on no cone)

Log Files and Screenshots https://logs.px4.io/plot_app?log=44529271-2e29-4827-a09a-64d78b725c6d https://logs.px4.io/plot_app?log=32d68ad0-a322-451d-b3ca-4640bda64670

Drone (please complete the following information): Tested with Gazebo standard_vtol

stale[bot] commented 3 years ago

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

sfuhrer commented 3 years ago

Fixed by https://github.com/PX4/PX4-Autopilot/pull/16377