Takeoff: check if the desired velocity is finite when generating the takeoff velocity ramp #13973
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…takeoff velocity ramp
dusan19
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Ouch, that's a good find! Thanks a lot for the detailed problem description and fix. 👍 I was just thinking about the case where the limit parameter |
MaEtUgR
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Mar 9, 2020
| @@ -115,6 +116,10 @@ float Takeoff::updateRamp(const float dt, const float takeoff_desired_vz) | |||
| } | |||
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| if (_takeoff_state == TakeoffState::rampup) { | |||
| if (!PX4_ISFINITE(takeoff_desired_vz)) { | |||
| return _takeoff_ramp_vz; | |||
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I think the ramp should continue to the maximum speed constraint to avoid getting stuck in case takeoff_desired_vz stays always NaN. I can make a suggestion.
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Describe problem solved by this pull request
Drone takes off, executes an auto mission, lands, but never detects landing, instead keeps high thrust indefinitely.
When the mission starts (with a command) the flight task doesn't update for one iteration (#13971 #13668). If this happens while the takeoff state machine is in state
rampup, the controller constraints remain NAN as initialized andTakeoff::updateRampwould set_takeoff_ramp_vzto NAN. With_takeoff_ramp_vzbeing NAN, the takeoff state machine can not leave therampupstate which leads tolimit_thrust_during_landingnever being called and thrust never set to 0, even though ground contact is true.Maybe landedrequires low thrust, solandedis never detected.Describe your solution
Proposed solution is to check whether the constraint that is used in ramp computation is NAN. While it is NAN the ramp is not updated.