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vehicle_local_position.z return 0 in HITL as global_local_alt0 is reinited #17977

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ghost opened this issue Jul 25, 2021 · 1 comment · Fixed by #18010
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vehicle_local_position.z return 0 in HITL as global_local_alt0 is reinited #17977

ghost opened this issue Jul 25, 2021 · 1 comment · Fixed by #18010
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ghost commented Jul 25, 2021 •
edited by ghost
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z in vehicle_local_position return 0 in HITL mode global_local_alt0 is reinited everytime while decoding HIL_STATE_QUATERNION.

PX4 Firmware: v1.12.0

I was running HITL simulation after upgrading my firmware when I discovered that z is always return 0 in vehicle_local_position. I debugged this issue and found that in mavlink_receiver.cpp while parsing HIL_STATE_QUATERNION in handle_message_hil_state_quaternion, the reference altitude global_local_alt0 is reinited everytime. (line no 2571 in mavlink_receiver.cpp )

This bug seems to have to have crept in this commit
@dagar dagar added the bug label Aug 2, 2021
dagar added a commit that referenced this issue Aug 2, 2021
@dagar
mavlink: receiver fix HIL_STATE_QUATERNION map projection init
ac52aeb 
 - fixes #17977
@dagar dagar mentioned this issue Aug 2, 2021
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dagar commented Aug 2, 2021

Please try #18010

@dagar dagar self-assigned this Aug 2, 2021
dagar added a commit that referenced this issue Aug 2, 2021
@dagar
mavlink: receiver fix HIL_STATE_QUATERNION map projection init
d997a8d 
 - fixes #17977
dagar added a commit that referenced this issue Aug 2, 2021
@dagar
mavlink: receiver fix HIL_STATE_QUATERNION map projection init
9e4a04f 
 - fixes #17977
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mavlink: receiver fix HIL_STATE_QUATERNION map projection init PX4/PX4-Autopilot
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