[v1.14 Release] beta: Yaw estimate error in ATL Mantis Edu

junwoo091400 commented 1 year ago

Describe the bug

With ATL Mantis Edu flashed with main (1.14.0 beta), after the compass calibration, the yaw estimate was off by 180 degrees.

Also, when I inspected vehicle_magnetometer and sensor_mag data, the data didn't make much sense, so I am guessing it is either:

Magnetometer orientation detection error
Magnetometer fault

But in case this is somehow related to PX4's EKF / Magnetometer architecture, I am creating this issue!

Expected behavior

A clear and concise description of what you expected to happen.

Log Files and Screenshots

https://logs.px4.io/plot_app?log=10380af7-c173-4795-be6e-b4088224a689

First I went around the park pointing the drone in the direction of travel (as a groundtruth for the sensor data vs actual heading)
Then, I had a short Manual mode flight just to test it's flyability (& magnetometer data)

Analysis

I don't know why, but even with the SDLOG_MODE 2 (boot until shutdown), the logged duration only corresponds to arm ~ disarm. Potentially another bug?

Drone (please complete the following information):

ATL Mantis Edu

Additional context

I haven't tested on v1.13, so I can't confirm if this is a regression.

But what I know is that this yaw estimate error didn't occur in the past when developing Follow Me mode: https://github.com/PX4/PX4-Autopilot/pull/19260

DronecodeBot commented 1 year ago

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-march-29-2023/31346/4

gugafelds commented 1 year ago

I also flashed a Pixhawk 6X Board with the v1.14 beta and was getting critical errors because of the Yaw Estimate all the time.

junwoo091400 commented 1 year ago

Could you share a log? @gustavotbarros

I will add this to the v1.14 bug list!

junwoo091400 commented 1 year ago

I also flashed a Pixhawk 6X Board with the v1.14 beta and was getting critical errors because of the Yaw Estimate all the time.

As I detailed in https://github.com/PX4/PX4-Autopilot/issues/21358#issuecomment-1534226224, the issue seems to have been resolved in the main branch now. Could you give it a try and report back if possible? :wink:

Regarding the test (copy of the reply from mentioned issue):

https://logs.px4.io/plot_app?log=ca3cafd0-2487-4df6-868b-4901eef31808

The same error didn't occur, meaning between 1.14 beta & main branch, some change happened that fixed this behavior.

gugafelds commented 1 year ago

Hi @junwoo091400, i've flashed my Pixhawk 6X today with 1.14-beta2 and the problems are still there.

When I move the drone around, several sensor calibration errors appear.

And this time it even showed up a Crash Dump on SD message, something like that. I went back to 1.13.2 and the problems are gone.

junwoo091400 commented 1 year ago

i've flashed my Pixhawk 6X today with 1.14-beta2 and the problems are still there.

That's normal! Since we didn't release further beta, the problem persists in v1.14-beta2, and is only fixed (as I tested) in the main branch.

And this time it even showed up a Crash Dump on SD message, something like that. I went back to 1.13.2 and the problems are gone.

That sounds worrying, could you create an issue with a SD card dump message & details of the test please? That may be one of the critical bugs we might have in the 1.14 release!

gugafelds commented 1 year ago

That's normal! Since we didn't release further beta, the problem persists in v1.14-beta2, and is only fixed (as I tested) in the main branch.

I apologize for the confusion earlier. I have tested the main branch as well, it wasn't beta2. Unfortunately, I cannot perform a test at the moment, but I can upload again the main branch tomorrow and see if the Crash Dump message appears.

Just to clarify, I observed the sensor errors when I physically manipulated the drone by hand.

mrpollo commented 1 year ago

are you planning to fix for v1.14 @junwoo091400 otherwise let's remove from the project board

junwoo091400 commented 1 year ago

As I detailed in #21358 (comment), the issue seems to have been resolved in the main branch now

As I stated above, now in the main branch this has been resolved, thus I think this can be closed!

hugo2410 commented 2 weeks ago

Hi @junwoo091400 I'm seeing a similar issue in v1.15.1, just wanted to confirm that v1.15 had been branch off main prior to this fix as this issue seems to be in the v1.16 Release project?

PX4 / PX4-Autopilot