navigator: fix incorrect takeoff altitude #9034
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Stifael
previously approved these changes
Mar 6, 2018
|
Thanks! Could you share a SITL log from this? |
This fixes a problem where we do not properly go to the set takeoff altitude but end up lower. The problem was that the setpoint triplet is reset when the navigation mode changes. So in this case, the triplet is reset when we switch from takeoff to loiter which can happen before reaching the actual takeoff altitude. The fix is an ugly hack to prevent the reset in the case of takeoff to loiter. A better solution would be to remove the general reset and have all navigation modes do the proper resets themselves. This hotfix should however be lower risk.
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Before: https://logs.px4.io/plot_app?log=765b9de0-7c3d-48ab-a8d5-d87ccbac564f |
Stifael
approved these changes
Mar 6, 2018
|
It seems like all of navigator needs to be tied together as nested state machines with appropriate transitions. |
|
Thanks! |
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This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.
The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.
The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.
This hotfix should however be lower risk.
Tested in SITL.
Fixes #9033.