• Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
  • Register
  • Login
ModalAI Forum
  • Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
    • Register
    • Login

    Failsafe Landing bug in PX4 1.14?

    Ask your questions right here!
    3
    21
    2.0k
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • H
      hmlow
      last edited by 14 Aug 2023, 14:58

      Hi

      Can i seek some assistance pls to look into this issue?
      Its a safety hazard when the aircraft translates in position while descending.

      I believe the same behavior is present on the Starlingv2 as well.

      Much appreciated.

      E 2 Replies Last reply 14 Aug 2023, 19:21 Reply Quote 0
      • E
        Eric Katzfey ModalAI Team @hmlow
        last edited by 14 Aug 2023, 19:21

        @hmlow We will try to replicate with a Starling

        1 Reply Last reply Reply Quote 0
        • E
          Eric Katzfey ModalAI Team @hmlow
          last edited by 14 Aug 2023, 19:21

          @hmlow Do you have any logs that you can share?

          H 2 Replies Last reply 15 Aug 2023, 09:13 Reply Quote 0
          • H
            hmlow @Eric Katzfey
            last edited by 15 Aug 2023, 09:13

            @Eric-Katzfey

            Yes pls refer to this ulg log:

            horizontal translation while landing

            I did a couple of landings in Land flight mode. The first and second landing was from a positive and negative x position (NED) with respect to the Home location, respectively. You will be able to see that during the descend, the aircraft translates in the x-axis toward the home location without any stick inputs from me. There are local position setpoints generated during the descent/translation, which suggests that it is a programmed behavior.

            I did a couple of more landings at various positions/orientations with respect to the Home location after that.

            1 Reply Last reply Reply Quote 0
            • H
              hmlow @Eric Katzfey
              last edited by 17 Aug 2023, 16:14

              @Eric-Katzfey

              Any luck? Does the log make sense to you?

              E 1 Reply Last reply 17 Aug 2023, 17:21 Reply Quote 0
              • E
                Eric Katzfey ModalAI Team @hmlow
                last edited by 17 Aug 2023, 17:21

                @hmlow We did a quick check with HITL simulation but in that case the landing is perfectly straight down every time. So we need to have our flight team recreate this with a real drone to see if it can be replicated but that will take a few days for them to get to it.

                H 1 Reply Last reply 17 Aug 2023, 23:11 Reply Quote 0
                • H
                  hmlow @Eric Katzfey
                  last edited by 17 Aug 2023, 23:11

                  @Eric-Katzfey Thanks keep me posted

                  E 2 Replies Last reply 17 Aug 2023, 23:32 Reply Quote 0
                  • E
                    Eric Katzfey ModalAI Team @hmlow
                    last edited by 17 Aug 2023, 23:32

                    @hmlow Our flight team was able to recreate the issue today. Now we just need to figure out what is causing that to happen.

                    1 Reply Last reply Reply Quote 0
                    • E
                      Eric Katzfey ModalAI Team @hmlow
                      last edited by 21 Aug 2023, 16:38

                      @hmlow This seems like a fundamental bug in PX4 when dealing with EV modes so we're working with the PX4 developers to figure out who and how this will be addressed.

                      H 2 Replies Last reply 21 Aug 2023, 22:52 Reply Quote 0
                      • H
                        hmlow @Eric Katzfey
                        last edited by 21 Aug 2023, 22:52

                        @Eric-Katzfey thanks for the update. At least the issue has been identified. Looking forward to some fixes in the near future..

                        1 Reply Last reply Reply Quote 0
                        • H
                          hmlow @Eric Katzfey
                          last edited by 29 Aug 2023, 01:11

                          @Eric-Katzfey hi. Any progress on this?
                          Thanks

                          E 2 Replies Last reply 29 Aug 2023, 14:36 Reply Quote 0
                          • E
                            Eric Katzfey ModalAI Team @hmlow
                            last edited by 29 Aug 2023, 14:36

                            @hmlow Not really. I don't think anyone in the px4 community has time to assist on this so it's going to be up to ModalAI to fix it. Unfortunately, I can't offer any estimate on when we will be able to resolve this yet.

                            1 Reply Last reply Reply Quote 0
                            • E
                              Eric Katzfey ModalAI Team @hmlow
                              last edited by 30 Aug 2023, 22:04

                              @hmlow I have been able to recreate the issue in HITL with the Gazebo simulator so that should help with testing and investigation on this issue.

                              H 1 Reply Last reply 31 Aug 2023, 15:42 Reply Quote 0
                              • H
                                hmlow @Eric Katzfey
                                last edited by 31 Aug 2023, 15:42

                                @Eric-Katzfey that's good. Looking forward to the fix

                                E 2 Replies Last reply 31 Aug 2023, 21:54 Reply Quote 0
                                • E
                                  Eric Katzfey ModalAI Team @hmlow
                                  last edited by 31 Aug 2023, 21:54

                                  @hmlow This fixes it in HITL:

                                  diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
                                  index 565b2f2150..ac36732214 100644
                                  --- a/src/modules/navigator/mission_block.cpp
                                  +++ b/src/modules/navigator/mission_block.cpp
                                  @@ -664,8 +664,8 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
                                                  return false;
                                          }
                                   
                                  -       sp->lat = item.lat;
                                  -       sp->lon = item.lon;
                                  +       sp->lat = static_cast<double>(NAN);
                                  +       sp->lon = static_cast<double>(NAN);
                                          sp->alt = get_absolute_altitude_for_item(item);
                                          sp->yaw = item.yaw;
                                          sp->yaw_valid = PX4_ISFINITE(item.yaw);```
                                  1 Reply Last reply Reply Quote 0
                                  • E
                                    Eric Katzfey ModalAI Team @hmlow
                                    last edited by 31 Aug 2023, 21:55

                                    @hmlow But that probably only works for VIO mode. Not sure what it would do in GPS mode. So it isn't a fix that will be acceptable for general use. So it still needs more work but that is the heart of the issue.

                                    S 1 Reply Last reply 7 Mar 2025, 16:03 Reply Quote 0
                                    • E Eric Katzfey referenced this topic on 22 Apr 2024, 16:02
                                    • L LaborzaubererTHI referenced this topic on 23 Apr 2024, 07:17
                                    • S
                                      swickliff @Eric Katzfey
                                      last edited by 7 Mar 2025, 16:03

                                      @Eric-Katzfey Has any testing been done with this fix in GPS mode?

                                      E 1 Reply Last reply 7 Mar 2025, 16:36 Reply Quote 0
                                      • E
                                        Eric Katzfey ModalAI Team @swickliff
                                        last edited by 7 Mar 2025, 16:36

                                        @swickliff No, it hasn't. Supposedly all of this is fixed in latest mainline but we haven't tested it. But we do have a mainline build available to try: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mainline-px4_1.16.0-1.0.0-202502271326_arm64.deb

                                        1 Reply Last reply Reply Quote 0
                                        • First post
                                          Last post
                                        Powered by NodeBB | Contributors