one_drone_gps_baro drone's altitude keeps increasing🐞

ctu-mrs / mrs_uav_system

The entry point to the MRS UAV system.

https://ctu-mrs.github.io/

BSD 3-Clause "New" or "Revised" License

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one_drone_gps_baro drone's altitude keeps increasing🐞 #95

Closed bconvens closed 3 years ago

bconvens commented 3 years ago

Hi, I just installed a new version of the mrs_uav_system on Ubuntu 18. I noticed the default simulation script one_drone_gps_baro is not working. The drone's altitude keeps increasing forever.

I would like to run a simulation and a hardware experiment for which no rangefinder is required for altitude estimation. Moreover in the swarm case I don't want the rangefinder to switch height when another uav suddenly flies below it.

Thanks in advance for solving the issue. Bryan

petrlmat commented 3 years ago

Hi, this is a bug in a recently added feature, which should prevent the UAV to collide with an obstacle or ground below it. Until we fix it, please disable the feature by adding these lines into your uav_manager.yaml custom config file:

min_height_checking:
  enabled: false

petrlmat commented 3 years ago

Fixed in https://github.com/ctu-mrs/mrs_uav_odometry/commit/d65c7d4c6c7b80f50d6d467f55d05f5197847686