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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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SITL Fixedwing mission can't land without range sensor #19974

Open julianoes opened 2 years ago

julianoes commented 2 years ago

Describe the bug

I can no longer land at the end of a mission in SITL using the plane model.

The warning is:

WARN [fw_pos_control_l1] Landing aborted: terrain estimate not found

Presumably this is because there is no distance sensor configured for the plane which is now required.

It would be good to flag such a mission as invalid if there is no range sensor in the preflight check. Also, the plane SITL model should have a range sensor.

To Reproduce

Steps to reproduce the behavior:

  1. make px4_sitl gazebo_plane
  2. Plan fixedwing mission with takeoff and
  3. Fly! And keep flying...
tstastny commented 2 years ago

@julianoes thanks for raising!

It would be good to flag such a mission as invalid if there is no range sensor in the preflight check.

I can take a look at this.

Also, the plane SITL model should have a range sensor.

@Jaeyoung-Lim is this easy enough to implement?

Jaeyoung-Lim commented 2 years ago

Also, the plane SITL model should have a range sensor.

@tstastny Yes, actually promised @ryanjAA to do this few weeks ago :smile: I will do it within this week

@julianoes @tstastny Does this mean we need a distance sensor in the default fixed wing model? I was planning to add a model called plane_lidar, but if we want to add it to the default model this is fine on myside

alelse commented 1 year ago

Is there a fix for this yet or a work around?