AutoMapper1/2: set thrust to NAN at idle #11229
Conversation
This fixes a bug where a multicopter tries to control attitude and therefore takes off when in HOLD mode and landed.
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One catch is that this only works once, and not again after a takeoff and landing. |
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Can we reset the whole state after landing? This applies to other states as well. |
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I think I don't understand what's going on, especially not this: |
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@bresch Could you please chime in here? @julianoes Maybe catch up quickly in person.. |
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@julianoes as I explained in #11197, the issue only occurs with with MPC_AUTO_MODE is set to jerk-limited. So if you need a quick fix, then we should change the default back to 0 (https://github.com/PX4/Firmware/blob/master/src/modules/mc_pos_control/mc_pos_control_params.c#L684) |
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We can have a call, but I fear that all the "hot-fixes" are going in the complete wrong direction and you just add new issues. |
I don't need a quick fix but I think the fact that controls are running when the drone is supposed to be idling on ground is a potential safety issue and therefore should get resolved as soon as possible. The regression happened with #11056, so that's why I'm suggesting to just revert that. |
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This seems not to work properly, so closing. |
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@julianoes If it's blocking you from work on master just checkout this hotfix #11207 but I'd suggest we don't merge it but rather fix the AutoMapper2 to not produce any unexpected setpoints.
Not really. The bug was introduced with #10746 and #11056 just unveils it. |
I don't understand all the things that you guys are talking about but I would like to have the regression fixed and this change seems to do it.
Fixes #11197.
If we can't fix this quickly, then I'd suggest to revert #11056 for now.