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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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ALT broken in the VTOL RTL #18718

Closed Kim-zhi-jiang closed 2 years ago

Kim-zhi-jiang commented 2 years ago

The altitude keeps falling at RTL to home.

RomanBapst commented 2 years ago

@Kim-zhi-jiang Please add a log or a better explanation.

Kim-zhi-jiang commented 2 years ago

@RomanBapst log

RomanBapst commented 2 years ago

@Kim-zhi-jiang Can you explain how you reproduced this? Any code changes? What was your command for the simulation? Did you change params?

Kim-zhi-jiang commented 2 years ago

@RomanBapst Not Changes code, PX4_SIM_SPEED_FACTOR=3 PX4_HOME_LAT=22.5692507 PX4_HOME_LON=113.4770233 PX4_HOME_ALT=29.5 make -j4 px4_sitl gazebo_standard_vtol I don't know where it happened Maybe commander.cpp, Test Master everyday.

NicolasM0 commented 2 years ago

It seems that your RTL point altitude is set to 0m so 29m below your ground altitude.

Kim-zhi-jiang commented 2 years ago

@NicolasM0 Can be easily reproduced, git clone master make px4_sitl gazebo_standard_vtol RTL then...

Kim-zhi-jiang commented 2 years ago

@NicolasM0 Maybe from here #18395