ArduPilot/ardupilot

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

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#6,322 建立於 2017年5月25日

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 (4 留言) (0 反應) (0 負責人)C++ (9,336 star) (15,603 fork)batch import
BUGCoptergood first issue

描述

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.

貢獻者指南

技術棧
cpp
領域
backend
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。
clear
前置要求
Basic understanding of ArduPilot mission logicC++ programmingAbility to compile and test in SITLKnowledge of flight controller state machine
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。
25
研究方向
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.