ArduPilot/ardupilot

AP_SmartRTL algorithm breaks on Circle mode

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#20,716 opened on May 9, 2022

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Description

Bug report

Issue details

A flight on the weekend showed a problem where the SmartRTL buffer filled up while the vehicle was in circle mode, and SmartRTL disengaged.

This is trivially reproducible in SITL:

mode loiter
arm throttle
rc 3 2000
mode circle
rc 3 1500
set sim_speedup 100

Version master

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

Airframe type Chimera

Hardware type Lumeneer H743

Logs n/a - reproducible in SITL

Contributor guide

Research direction
Investigate why the SmartRTL buffer fills up during Circle mode. Reproduce in SITL and trace the condition that causes disengagement.
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
Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75