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

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

Tech stack
c
Domain
backendapi
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
mostly clear
Prerequisites
C++ knowledgeMAVLink protocol understandingArduPilot code structure
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
35
Research direction
This issue describes three specific bugs in the Copter implementation of POSITION TARGET LOCAL NED: (1) frame is always reported as MAV FRAME LOCAL NED regardless of input, (2) type mask only returns 3 of many possible combinations, and (3) yaw and yaw rate are always zero. To start, search the ArduPilot codebase for 'SET POSITION TARGET LOCAL NED' and 'POSITION TARGET LOCAL NED' to locate the relevant message handlers. Examine the code in ArduCopter or libraries like GCS MAVLink to understand how the position target is stored and how the response is generated. Check recent commits or related issues (e.g., #13932 comments) for any partial fixes or discussions. The fix involves ensuring the frame, type mask, and yaw values are correctly preserved from the set message.
Copter: POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED · ArduPilot/ardupilot#13932 | Good First Issue