Copter: POSITION_TARGET_LOCAL_NED doesn't correctly reflect SET_POSITION_TARGET_LOCAL_NED

[hurowits]

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

[amilcarlucas]

POSITION_TARGET_LOCAL_NED is the vehicle current position. It will almost never reflect SET_POSITION_TARGET_LOCAL_NED, it is not meant to do that. The bug here is teh sentence

This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

in the descrition of the POSITION_TARGET_LOCAL_NED message. That description is missleading. it should read instead:

This should follow (with some lag) the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way and the controll loop can keep up with the requested speed of position changes.

The other points you mention are missing features and bugs.

[hendjoshsr71]

Most of this will be handled in #18580