ArduPilot/ardupilot

Copter: POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED

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#13,932 opened on Mar 30, 2020

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CopterEnhancementgood first issue

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Description

Bug report

Issue details

POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED. It always returns MAV_FRAME_LOCAL_NED, regardless of what was specified in SET. The type mask is also incorrect - it can only return 3 different masks, when there are many more possible combinations. Finally, yaw and yaw_rate are always zero.

Version 4.03

Platform [ ] All [ ] AntennaTracker [x] Copter [ ] Plane [ ] Rover [ ] Submarine

Contributor guide

Research direction
Trace the handling of SET POSITION TARGET LOCAL NED in Copter source code to understand how the target position, frame, type mask, yaw, and yaw rate are stored and then how they are reported back in POSITION TARGET LOCAL NED. Look for discrepancies in frame conversion, mask encoding, and yaw propagation.
Tech stack
cpp
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++MAVLink
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
55