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PX4 / PX4-SITL_gazebo-classic

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.
http://dev.px4.io/simulation-gazebo.html
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Plane airspeed failure on landing #713

Closed ghfue closed 2 years ago

ghfue commented 3 years ago

When the plane model lands, the following warning is given: WARN [airspeed_selector] Airspeed sensor failure detected (1, -1).

The airspeed is then considered invalid, causing it to fail the pre-arm checks. WARN [PreFlightCheck] Preflight fail: Airspeed invalid.

This means to refly a mission or to fly multiple missions after landing, the PX4 sim has to be restarted.

Jaeyoung-Lim commented 3 years ago

@ghfue Do you have a log? wondering what is happening to the airspeed sensor

ghfue commented 3 years ago

Log

dayjaby commented 3 years ago

Got that error on a real drone (with PX4 1.12.1) as well, so might not be related to simulations.

T3chDad commented 2 years ago

I've had this problem too. ZOHD Dart XL with the pitot tube on the left wing the airspeed sensor fails on every single landing and requires a power off to reset. v1.12.3 on MRO Control Zero H7 FC.

Jaeyoung-Lim commented 2 years ago

@T3chDad @dayjaby Thanks for the update Would you be able to post a issue with the log on the upstream repository?

If you also see this on a real vehicle, I don't think this issue is related to the simulation.

T3chDad commented 2 years ago

Here is the log of my last flight yesterday. Airspeed failed on landing. This was the third flight of this aircraft. All three flights ended with an easy landing and airspeed sensor failure.

Jaeyoung-Lim commented 2 years ago

@T3chDad Please post the issue on https://github.com/PX4/PX4-Autopilot/issues with details of your setup and failures

T3chDad commented 2 years ago

@T3chDad Please post the issue on https://github.com/PX4/PX4-Autopilot/issues with details of your setup and failures

Done!

sfuhrer commented 2 years ago

@ghfue the PX4 version you fly with doesn't have this fix: https://github.com/PX4/PX4-Autopilot/pull/17051 During landing, the airspeed drops below stall speed (ASPD_STALL), causing the trigger. It will be further improved by https://github.com/PX4/PX4-Autopilot/pull/18442, which by default disables the failure detection based on stall speed.

ghfue commented 2 years ago

@sfuhrer Current tests on master show the same failure behavior. I tested with PX4/PX4-Autopilot#18442, and it resolved the issue. I'll close this when the PR lands.

rrajnidhi commented 2 years ago

Even i was facing same issue. I guess the reason was bcz of steady airspeed sensor value getting published after landing or when aircraft is not moving. PX4 considers this as a sensor fault. I have resolved it by changing the value of wait time from 1 second to 10second in /src/modules/airspeed_selector/airspeed_selector_main.cpp Try and let me know.

rrajnidhi commented 2 years ago

Got that error on a real drone (with PX4 1.12.1) as well, so might not be related to simulations.

Correct, Its not with simulation.

Jaeyoung-Lim commented 2 years ago

@rrajnidhi Are you sure your firmware includes https://github.com/PX4/PX4-Autopilot/pull/18442 ? (Repeated comments from https://github.com/Auterion/px4-jsbsim-bridge/issues/49)