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    Failsafe Landing bug in PX4 1.14?

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    • 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
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                          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

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