Take-Off and Land command each fly to xy=[0,0] location instead of on the spot
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Dear developers,
while connected to PX4 instance over MavSDK, using the python environment, we initiate the take-off and land command.
But instead of the commands being executed on the spot, meaning where the drone is, the drones fly towards its xy=[0,0] location while executing the respectively command. So instead of flying vertical each time, they actually fly diagonal.More detailed description:
Drone position at [1, 0, 0].
Command takeoff.
Offboard to setpoint [-2,0].
Command land.April tag #0 is set to “unknown” and no other tag specified.
Result:
Took off and flew diagonal to location: NED = [0, 0, -1.5].
Flew backwards to [-2,0,-1.5] as commanded in offboard mode.
Land command led to a diagonal land flight at [0,0] location, where it initialy took off from.Expected:
Take-off and land command would lead to vertical flight at the xy-location where it was when initiated.The flight can be seen here: https://www.youtube.com/watch?v=Trz97csbsz0
Our example is very close to your example offboard_position_ned2.py found here:
https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python/-/blob/master/offboard_position_ned2.py?ref_type=headsFrom testing PX4 within an gazebo environment, we did not expect such a behavior.
Regards
LabMagDrone: RB5
System-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
Kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2 -
Dear developers,
while connected to PX4 instance over MavSDK, using the python environment, we initiate the take-off and land command.
But instead of the commands being executed on the spot, meaning where the drone is, the drones fly towards its xy=[0,0] location while executing the respectively command. So instead of flying vertical each time, they actually fly diagonal.More detailed description:
Drone position at [1, 0, 0].
Command takeoff.
Offboard to setpoint [-2,0].
Command land.April tag #0 is set to “unknown” and no other tag specified.
Result:
Took off and flew diagonal to location: NED = [0, 0, -1.5].
Flew backwards to [-2,0,-1.5] as commanded in offboard mode.
Land command led to a diagonal land flight at [0,0] location, where it initialy took off from.Expected:
Take-off and land command would lead to vertical flight at the xy-location where it was when initiated.The flight can be seen here: https://www.youtube.com/watch?v=Trz97csbsz0
Our example is very close to your example offboard_position_ned2.py found here:
https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python/-/blob/master/offboard_position_ned2.py?ref_type=headsFrom testing PX4 within an gazebo environment, we did not expect such a behavior.
Regards
LabMagDrone: RB5
System-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
Kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2What coordinate frame are you using?
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What coordinate frame are you using?
We are connected to the drone via MavSDK. We booted the drone at the [0,0] location. Carried it forwards to [1,0] and send the takeoff and land commands via MavSDK.
Due to the fact that I think we are connected to PX4 I suspect we are using its coordinate system.Regards.
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We are connected to the drone via MavSDK. We booted the drone at the [0,0] location. Carried it forwards to [1,0] and send the takeoff and land commands via MavSDK.
Due to the fact that I think we are connected to PX4 I suspect we are using its coordinate system.Regards.
How would one go about using the different coordinate systems? All of our code is currently running on an external computer, not on the drone. [Question might need separate thread].
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How would one go about using the different coordinate systems? All of our code is currently running on an external computer, not on the drone. [Question might need separate thread].
@LaborzaubererTHI Sounds like it may be similar to: https://forum.modalai.com/topic/2533/failsafe-landing-bug-in-px4-1-14/19?_=1713800679314
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@LaborzaubererTHI Sounds like it may be similar to: https://forum.modalai.com/topic/2533/failsafe-landing-bug-in-px4-1-14/19?_=1713800679314
@Eric-Katzfey said in Take-Off and Land command each fly to xy=[0,0] location instead of on the spot:
@LaborzaubererTHI Sounds like it may be similar to: https://forum.modalai.com/topic/2533/failsafe-landing-bug-in-px4-1-14/19?_=1713800679314
Indeed it does.
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