Open anassinator opened 6 years ago
@anassinator I think offboard should produce log data compatible to other modes from the Firmware side. Offboard mode is currently under improvement. For better modularization of the different setpoint sources there's now a flight task architecture: https://github.com/PX4/Firmware/pull/8933 and @Stifael is currently working on the task for offboard mode. Chances are he's already aware of that inconsistency (or else he'll read this).
Perfect thanks!
To preface, I'm not sure if this should be a
Firmware
orflight_review
issue or both.Problem
As it stands, in OFFBOARD mode, sending a SET_POSITION_TARGET_LOCAL_NED with a valid altitude (i.e.
z
coordinate), only thesetpoint_triplet.current.z
is set, andsetpoint_triplet.current.alt
remains 0 (relevant lines). This means that the altitude plot in OFFBOARD mode shows all setpoints to be at 0 altitude despite in reality possibly being something else.Example Log
Log
Problematic plot
Expected plot
Possible fixes
I see 2 potential fixes, but not sure either are good.
Firmware
to setsetpoint_triplet.current.alt
when settingsetpoint_triplet.current.z
in OFFBOARD mode. This means logs taken with older firmware will still show the wrong plot though.setpoint_triplet.current.z
whensetpoint_triplet.current.alt = 0
(and maybe only while in OFFBOARD mode) inflight_review
.