ArduPilot/ardupilot

Copter: POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED

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#13,932 建立於 2020年3月30日

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CopterEnhancementgood first issue

描述

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

貢獻者指南

技術棧
c
領域
backendapi
議題類型
bug
難度面向新貢獻者的預計實作難度，1 表示很小改動，5 表示專家級工作。
3
預計時間有經驗貢獻者完成調查、實作、測試並準備 pull request 的粗略時間範圍。
1-2 days
活動狀態議題目前的可參與程度：新鮮、活躍、陳舊、阻塞或等待維護者輸入。
stale
清晰度議題是否清楚說明預期改動、驗收標準和下一步。
mostly clear
前置要求
C++ knowledgeMAVLink protocol understandingArduPilot code structure
新手友善度1-100 的估計分數，表示該議題對首次貢獻者的友善程度。
35
研究方向
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