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Flying over a cube breaks PX4 terrain distance estimator #14

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timkondratiev opened this issue Mar 15, 2023 · 2 comments
Open

Flying over a cube breaks PX4 terrain distance estimator #14

timkondratiev opened this issue Mar 15, 2023 · 2 comments
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bug Something isn't working
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v1.4

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@timkondratiev
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timkondratiev commented Mar 15, 2023 •
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Same for spawning a cube below a flying drone or removing a cube.

Topic /mavros/altitude displays sudden change in terrain distance and then nan:

header: 
  seq: 616
  stamp: 
    secs: 62
    nsecs:  40000000
  frame_id: "map"
monotonic: 489.8117980957031
amsl: 489.8117980957031
local: 2.0768721103668213
relative: 2.0768721103668213
terrain: nan
bottom_clearance: nan
@timkondratiev timkondratiev added this to the v1.4 milestone Mar 15, 2023
@timkondratiev timkondratiev added the bug Something isn't working label Mar 15, 2023
@okalachev
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okalachev commented Mar 28, 2023 •
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I may confirm this bug, but it's unclear so far, why PX4 acts this way, if the rangefinder's value changes sharply.

Screenshot 2023-03-28 at 15 51 35

okalachev added a commit to CopterExpress/clover that referenced this issue Apr 10, 2023
@okalachev
simple_offboard: add terrain_frame_mode parameter, CopterExpress/cl…
d2b0935 
…over_vm#14

`altitude` mode takes the current altitude from the estimator
`range` mode takes the current altitude from a simple range topic
@okalachev
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Addressed adding a terrain_frame_mode parameter. If set to range, then estimator's altitude is ignored, and the simple rangefinder topic's value is used instead.

okalachev added a commit to CopterExpress/clover that referenced this issue Apr 10, 2023
@okalachev
simple_offboard: add terrain_frame_mode parameter, CopterExpress/cl…
5e9f442 
…over_vm#14

`altitude` mode takes the current altitude from the estimator
`range` mode takes the current altitude from a simple range topic
okalachev added a commit to CopterExpress/clover that referenced this issue Apr 11, 2023
@okalachev
Set terrain_frame_mode to range by default addressing CopterExpress/c…
c82490a 
…lover_vm#14
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@okalachev @timkondratiev