Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

nav_rth_home_altitude ignored on RTH after WP Mission #4828

Open
peteoz opened this issue Jun 12, 2019 · 2 comments

Comments

Projects
None yet
3 participants
@peteoz
Copy link

commented Jun 12, 2019

Current Behavior

when RTH is enabled after last WP is reached in WP MIssion mode, it will not descend to nav_rth_home_altitude, instead it keeps loitering at nav_rth_altitude

Steps to Reproduce

  1. load mission with RTH enabled after last WP
  2. execute and wait for mission to complete
  3. watch RTH altitude
  4. after reaching home point check that it doesn't descend to nav_rth_home_altitude

Expected behavior

model should descend to nav_rth_home_altitude after reaching home point

Suggested solution(s)

model should descend to nav_rth_home_altitude after reaching home point

Additional context

wp

#wp 11 valid
wp 0 1 -248767500 1338253000 10000 2250 0
wp 1 1 -248760000 1338250000 10000 2250 0
wp 2 1 -248716799 1338319100 10000 2250 0
wp 3 1 -248650900 1338312800 10000 2250 0
wp 4 1 -248604799 1338353100 10000 2250 0
wp 5 1 -248642100 1338368800 10000 2250 0
wp 6 1 -248647304 1338304348 10000 2250 0
wp 7 1 -248721095 1338322002 10000 2250 0
wp 8 1 -248797326 1338256159 10000 2250 0
wp 9 1 -248772767 1338243837 10000 2250 0
wp 10 4 0 0 0 0 165

set nav_rth_altitude = 10000
set nav_rth_home_altitude = 7000


version

INAV/MATEKF405SE 2.2.0 May 26 2019 / 19:56:35 (a713b63)

GCC-7.3.1 20180622 (release) [ARM/embedded-7-branch revision 261907]

@issue-label-bot issue-label-bot bot added the BUG label Jun 12, 2019

@issue-label-bot

This comment has been minimized.

Copy link

commented Jun 12, 2019

Issue-Label Bot is automatically applying the label BUG to this issue, with a confidence of 0.97. Please mark this comment with 👍 or 👎 to give our bot feedback!

Links: app homepage, dashboard and code for this bot.

@digitalentity digitalentity added this to the 2.3 milestone Jun 12, 2019

@hali9

This comment has been minimized.

Copy link
Contributor

commented Jun 13, 2019

Not bug, new feature rather, because this is implement only for RTH in NAV_STATE_RTH_HOVER_ABOVE_HOME and not in WPRTH.
NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME should be added.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
You can’t perform that action at this time.