ArduPilot/ardupilot

Copter: POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED

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#13,932 创建于 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

贡献者指南

技术栈
c
领域
backendapi
议题类型
bug
难度面向新贡献者的预计实现难度，1 表示很小改动，5 表示专家级工作。
3
预计时间有经验贡献者完成调查、实现、测试并准备 pull request 的粗略时间范围。
1-2 days
活动状态议题当前的可参与程度：新鲜、活跃、陈旧、阻塞或等待维护者输入。
stale
清晰度议题是否清楚说明期望改动、验收标准和下一步。
mostly clear
前置要求
C++ knowledgeMAVLink protocol understandingArduPilot code structure
新手友好度1-100 的估计分数，表示该议题对首次贡献者的友好程度。
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.