Navigator: land: fix when flying without global position estimate #23845
Conversation
…ion is not valid Signed-off-by: Silvan Fuhrer <[email protected]>
|
Hi @sfuhrer. It would be nice if you could backport this to v1.14, since the same issue occurs with that version. You can take a look in this discussion. |
|
This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/auto-land-going-to-the-origin-with-optical-flow/40767/3 |
We usually only do point releases on the last stable but it's maybe worth a backport if people are struggling... |
I don't think there are any more 1.14 releases planned, as we now have 1.15 out already. I will thus port it to the 1.15 branch. |
|
how about the takeoff command? |
That's ok, at least for me it makes no difference. Thanks for your help Silvan. |
Good point. I've re-opened #21524. |
Solved Problem
Fixes #21524
Fixes #23773
Proposes a partial alternative to #23839
Land without global position estimate (e.g. GNSS-denied without manually initialized position) was broken since efc8c16. Instead of landing at the current spot it flew to (0/0).
Solution
Set lat/lon fields of triplet to NAN if global position is not valid. Further I disable the breaking distance calculation in this case, as it's requiring global position. Will be anyway removed from Navigator with #23678.
Changelog Entry
For release notes:
Alternatives
Test coverage
SITL tested.
Context
Land without global position only works with MC vehicles, FW requires global position.