Closed GoogleCodeExporter closed 8 years ago
hi mike,
in order to descend you have to change the sign to the altitude rate. I had the
problem during hil simulation ;-)
Original comment by cosimo.m...@gmail.com
on 10 Nov 2011 at 4:05
So you mean instead of:
{CONDITION_CHANGE_ALT,0,528,1000,0},
Use:
{CONDITION_CHANGE_ALT,0,-528,1000,0},
That still seems like a bug to me. CONDITION_CHANGE_ALT should be the same as
other way points, which you would never use a negative value for.
Original comment by mike.ben...@gmail.com
on 10 Nov 2011 at 5:10
sorry, I wasn't so clear. I mean:
if you have to "increase" the altitude to 528 m the sign of "rate" have to be
positive:
{CONDITION_CHANGE_ALT,0,528,1000,0}
if you want to "decrease" the altitude to 528 m the sign of "rate" have to be
negative:
{CONDITION_CHANGE_ALT,0,528,-1000,0}
Original comment by cosimo.m...@gmail.com
on 10 Nov 2011 at 8:44
Okay, that may be a workaround for now, but even that seems like it would still
be a bug.
Ardupilot should be smart enough to know if the altitude is causing it to
ascend or descend and use the rate appropriately without requiring a human to
explicitly tell it "up" or "down" with a signed rate value.
What happens if the plane is at 1000m and the command is:
{CONDITION_CHANGE_ALT,0,1500,-1000,0}
Does the plane descend until it crashes because the rate says -1000 and it will
never reach the higher target altitude?
Original comment by mike.ben...@gmail.com
on 10 Nov 2011 at 10:14
I had exatly this problem during hil simulation and also the problem related to
relative/absolute altitude reported in the previous issue (437). The two
problems should be solved asap !!
Original comment by cosimo.m...@gmail.com
on 11 Nov 2011 at 5:52
A bug fix has been pushed to the trunk so that you no longer need to use a
signed rate. The code will determine if a positive or negative rate is
required and act accordingly.
Original comment by dewei...@gmail.com
on 9 Jan 2012 at 1:26
Original issue reported on code.google.com by
mike.ben...@gmail.com
on 8 Nov 2011 at 3:16Attachments: