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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Orange Cube FW v1.14.0 Pitch command winds up while disarmed pre-flight and initial manual mode flight interval #22791

Open autoflightlab opened 6 months ago

autoflightlab commented 6 months ago

Describe the bug

Pitch command winds up during preflight while disarmed and continues to wind up in manual and does not reset to current pitch value when RTL engaged, leading to very large pitch upset , -80 deg nose down in less than 2 sec

To Reproduce

Extensive preflight checklist completed prior to flight, FW drone (plane) disarmed while waiting for takeoff approval, Plane re-armed, takeff performed in manual mode, flew for about 90 sec prior to engaging RTL from RC Tx. Plane went nose down quickly, approximately 80 deg before recovered manually and flown to higher altitude whereupon RTL was engaged second time, with no pitch transient.

Expected behavior

Expected to see little or no pitch transient when switching to RTL, not 80 deg nose down

Screenshot / Media

image Y axis is radians

Flight Log

Your uploaded log file is available under: https://gcc02.safelinks.protection.outlook.com/?url=https%3A%2F%2Freview.px4.io%2Fplot_app%3Flog%3D1181fc5e-721b-4a0a-8c56-760c11c681b2&data=05%7C02%7Cmark.a.motter%40nasa.gov%7Cac54b712352c4bf8fb0708dc32f3570c%7C7005d45845be48ae8140d43da96dd17b%7C0%7C0%7C638441267919948797%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C0%7C%7C%7C&sdata=FuC7cmLNmiMBEvHRU94lyZ%2Bg1I%2FA%2FZr1nQ35P6OzA1Q%3D&reserved=0

Description: Feedback: Vehicle type: Fixed Wing Airframe: Generic Standard Plane, Standard Plane Hardware: CUBEPILOT_CUBEORANGE Vehicle UUID: 00060000000036323737323251090041002a Software git hash: b8c541dd7277ed735139d7d1bfb829d61fbe29fb Upload file name: log_163_2024-2-20-11-51-06.ulg

Software Version

v 1.14.0

Flight controller

Orange Cube

Vehicle type

Fixed Wing

How are the different components wired up (including port information)

Ailerons Flaps Elevator Rudder Throttle

Additional context

No response

autoflightlab commented 6 months ago

After looking at the data some more, the pitch command windup starts when armed and continued through manual mode. Went back to V1.13.3, no issues with that version

bresch commented 6 months ago

@sfuhrer Is that the same issue fixed by https://github.com/PX4/PX4-Autopilot/pull/22499 ?

(backport to 1.14: https://github.com/PX4/PX4-Autopilot/pull/22500)

sfuhrer commented 6 months ago

Yes that looks looks exactly like what we fixed in that PR. It happens when you fly without airspeed and only switch into an altitude controlled mode once in air. image

Please update to the latest 1.14 release https://github.com/PX4/PX4-Autopilot/releases/tag/untagged-e22115b9a03956561336

autoflightlab commented 6 months ago

Thanks for taking a look at this. Using Matlab UAV Toolbox, it appears that the pitch command steadily increases from the time the plane is armed rather than an abrupt jump when switching to RTL. Using Flight Review, it shows the pitch command as zero and making a big jump when RTL engaged (first time) which would be more consistent with the earlier problem.