ArduPilot/ardupilot

AP_SmartRTL algorithm breaks on Circle mode

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#20,716 创建于 2022年5月9日

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Coptergood first issue

描述

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

贡献者指南

技术栈
cpp
领域
backend
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。
clear
前置要求
C++ArduPilot development setupSITL simulation
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。
40
研究方向
The bug occurs when the SmartRTL buffer fills up during circle mode, causing SmartRTL to disengage. To investigate, review the SmartRTL implementation, likely in files under libraries/SmartRTL or similar. Understand how the buffer is managed and why circle mode might prevent it from being cleared. Check for any recent changes or discussions in the issue comments. Reproduce using the provided SITL commands and trace the buffer fill behavior.
AP_SmartRTL algorithm breaks on Circle mode · ArduPilot/ardupilot#20716 | Good First Issue