Multicopter position control: Invalid setpoint can windup integrator #19041
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…ination unit test This bug was by chance found during simulation testing and debugging. The unit test is to easily reproduce and cover this case.
The following output instead of printing the action "stop and wait" just once: WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait
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Describe problem solved by this pull request
Settings a specific combination of invalid
trajectory_setpointcan lead to a flyaway.This was found during simulation debugging for #18988
I found that depending on the setpoint combination the velocity integrator can wind up because the calculations are ran with the invalid setpoint. Even though the results of the "invalid calculation" are not use the integrator state inside the controller is updated and leads to the problem.
Describe your solution
Test data / coverage
Added unit test and manual test case in SITL with which I originally found the issue work as expected with this pr.