-
Notifications
You must be signed in to change notification settings - Fork 13.6k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Mission with MPC_ALT_MODE terrain follow doesn't work properly #11266
Comments
The problem is here: https://github.com/PX4/Firmware/blob/b104b55ceccf7b794fe626ca8c8e967a7d77096f/src/modules/navigator/mission_block.cpp#L137-L141 where the vertical distance for acceptance radius is calculated as global_position_alt and altitude_amsl of the mission. |
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
Closing as stale. |
@tuloski sorry for the delay. Is this still an issue? |
Yes I think it is still an issue but it's months I didn't test it. |
Would be good if you could test this again and show a log for us to understand. |
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
I'm testing a mission with terrain_follow enabled with distance sensor, but I think it's not supported.
First of all there is no way to set a waypoint with relative altitude to the terrain. I can only relative to home (in local ned basically) and absolute WGS84.
The problem is that if I use the relative altitude and I have a terrain altitude different from zero, the copter will navigate following the terrain, but it will never reach the desired altitude w.r.t. home hence it will never trigger the waypoint reached in the acceptance radius.
Example home alt is 500m. Target altitude is 20m relative. Terrain altitude at target is 10m. What will happen is that the desired altitude is 520 meters but the copter will reach 530 meters (20 meters from terrain), so there is an error of 10 meters (the terrain altitude) and it will never finish the waypoint.
The altitude setpoint in mission should be modified with the terrain altitude IMO.
The text was updated successfully, but these errors were encountered: