ArduPilot/ardupilot

Copter: vehicle may backup if mission with takeoff as first command is initiated

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#6,322 opened on 2017年5月25日

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BUGCoptergood first issue

説明

Try this in the simulator:

  • set up a mission with a take-off command to 50m followed by a waypoint command
  • set MIS_RESTART = 1
  • arm and takeoff in stabilize or loiter, fly the vehicle forward at a reasonably fast speed but do not climb above 50m
  • initiate AUTO
  • the take-off command sets a horizontal target based on the vehicle's position at the moment the take-off command was initiated. If the vehicle is moving horizontally it will continue flying forward for a bit but then slow and return to where it was.

The solution is that if the vehicle is not-landed, the take-off command should use the horizontal stopping point as it's target instead of the current horizontal position.

コントリビューターガイド

技術スタック
cpp
領域
backend
Issue 種別
bug
難度新しい貢献者にとっての実装難度です。1 は非常に小さな変更、5 は専門的な作業です。
3
推定時間経験ある貢献者が調査、実装、テスト、pull request 準備にかけるおおよその時間範囲です。
1-2 days
活動状況Issue が今どれだけ取り組みやすいかを示します。新しい、活発、古い、ブロック中、またはメンテナー入力待ちなどです。
stale
明確さ期待される変更、受け入れ条件、次の手順がどれだけ明確かを示します。
clear
前提条件
Basic understanding of ArduPilot mission logicC++ programmingAbility to compile and test in SITLKnowledge of flight controller state machine
初心者向け度初回貢献者にどれだけ取り組みやすいかを 1-100 で推定したスコアです。
25
調査方針
Examine the takeoff command implementation in ArduCopter/commands.cpp or similar. Look for how the horizontal target is set when vehicle is not landed. The fix requires modifying the takeoff logic to use the horizontal stopping point (e.g., from AC PosControl) instead of current position when vehicle is moving. Refer to issue #6322 comments for discussion. No linked PRs found.