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Mission with MPC_ALT_MODE terrain follow doesn't work properly #11266

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tuloski opened this issue Jan 22, 2019 · 7 comments
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Mission with MPC_ALT_MODE terrain follow doesn't work properly #11266

tuloski opened this issue Jan 22, 2019 · 7 comments

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@tuloski
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tuloski commented Jan 22, 2019

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.

@tuloski tuloski changed the title Mission with MPC_ALT_MODE terrain follow Mission with MPC_ALT_MODE terrain follow doesn't work properly Jan 22, 2019
@tuloski
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tuloski commented Jan 22, 2019

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.

@stale
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stale bot commented Jun 24, 2019

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.

@stale
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stale bot commented Jul 8, 2019

Closing as stale.

@stale stale bot closed this as completed Jul 8, 2019
@julianoes julianoes reopened this Jul 15, 2019
@stale stale bot removed the Admin: Wont fix label Jul 15, 2019
@julianoes
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@tuloski sorry for the delay. Is this still an issue?

@tuloski
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tuloski commented Jul 15, 2019

Yes I think it is still an issue but it's months I didn't test it.

@julianoes
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Would be good if you could test this again and show a log for us to understand.

@stale
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stale bot commented Oct 13, 2019

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

@stale stale bot added the stale label Oct 13, 2019
@bresch bresch closed this as completed Aug 15, 2022
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