Open AndreRigi opened 3 years ago
There are some issues with the velocity setpoint generation. I guess that this is caused by the MC transition flight task being overwritten by FW logic. So maybe fixing the underlying logic would also make the warnings go away
I flew a real drone yesterday on v1.12.3-beta3(-ish) as always with sending SET_POSITION_TARGET_GLOBAL_INT messages, controlling only lat/lon/alt. Same issue with the changing Z setpoints, only that now I clearly noted that it really phyiscally affects as it also leads to oscillating MC thrust:
It was clearly audible that something wasn't quite right.
For comparison, the same drone running the same offboard script on v1.11.2:
@dagar @Jaeyoung-Lim this seems to be a follow-up issue from https://github.com/PX4/PX4-Autopilot/pull/16739 which survived https://github.com/PX4/PX4-Autopilot/pull/17130
Initially we thought it was only a false warning (and didn't check in depth :/), but now with visible observations on real flight it would be good to have this fixed
Current behavior In offboard, calling a VTOL transition ends up with PX4 [FlightModeManager] running the fligh task
[FlightTaskTransition]
. This flight task sets the position setpoints toNAN
.As the control mode remains in offboard (
_control_mode.flag_control_offboard_enabled
is true),[fw_pos_control_l1]
expects a finite position setpoint, which is not the case during transitions due to the previous flight task overwriting the setpoint.Because the setpoint is not finite, the following warning is sent:
[fw_pos_control_l1] Invalid offboard setpoint.
However everything works fine as roll and pitch setpoints are override (standard vtol) during transitions.
Expected behavior No warning during transitions.
Possible solution? A quick and dirty solution could be to mute the warning during a transition, either by looking at the current flight task or by checking the vehicle status. We may overlook important warnings in some corner cases though... A cleaner alternative may require an important change in the logic during transitions.
Log review Log review of an offboard VTOL flight with multiple transition.