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vtol fixes #8958

Merged
merged 5 commits into from
Mar 1, 2018
Merged

vtol fixes #8958

merged 5 commits into from
Mar 1, 2018

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sanderux
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Small fixes

  • Force VTOL landing also during transitions (if land is engaged during front transition)
  • Increase front transition duration limits

SITL tested.

@sanderux sanderux added the Hybrid VTOL 🛩️🚁 Multirotor + Fixedwing! label Feb 24, 2018
@lamping7
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lamping7 commented Feb 25, 2018 •
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CI failed because it didn't land.
http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/detail/PR-8958/2/pipeline/729

FCU never reported reaching the WP. This was the WP:

    frame: 3
    command: 21
    is_current: True
    autocontinue: True
    param1: 25.0
    param2: 0.0
    param3: 0.0
    param4: 0.0
    x_lat: 47.3992118835
    y_long: 8.54301234484
    z_alt: 12.0

This log (bad): https://logs.px4.io/plot_app?log=862a9e5e-89d3-402a-803f-baf7b729bea3
Known good log: https://logs.px4.io/plot_app?log=2b04575f-b7ae-43e7-ae63-29c613e3d913

@sanderux
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Runs a full mission fine in SITL here. I suspect a CI issue.
Log also showed a fully completed mission.
Lets see how it does now.

@lamping7
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I ran this locally, outside of rostest with QGC. The vehicle doesn't land after the transition. It just hovers at the landing WP.

I converted the mission to QGCs .plan file format so you can take a look. I had to rename it .txt for GitHub to accept it.
vtol_old_2.txt

@sanderux
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thanks, addressed

bresch
bresch previously approved these changes Feb 28, 2018
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lgtm

dagar
dagar reviewed Mar 1, 2018
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src/modules/navigator/navigator.h Outdated
@@ -260,7 +260,7 @@ class Navigator : public control::SuperBlock
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss.get(); }
float get_vtol_reverse_delay() const { return _param_reverse_delay.get(); }

bool force_vtol() const { return _vstatus.is_vtol && !_vstatus.is_rotary_wing && _param_force_vtol.get(); }
bool force_vtol() const { return _vstatus.is_vtol && (!_vstatus.is_rotary_wing || _vstatus.in_transition_to_fw) && _param_force_vtol.get(); }
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I'd say this is past being a one liner.

@sanderux
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sanderux commented Mar 1, 2018

@dagar addressed

@dagar dagar merged commit 2ef9c4e into master Mar 1, 2018
@dagar dagar deleted the pr-vtol-fixes branch March 1, 2018 21:51
@mrpollo mrpollo mentioned this pull request Jun 5, 2018
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@dagar dagar dagar approved these changes

@bresch bresch bresch left review comments

@LorenzMeier LorenzMeier Awaiting requested review from LorenzMeier

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4 participants
@sanderux @lamping7 @dagar @bresch