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Strange new BUG with landing in Plane master build. #9993

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pompecukor opened this issue Dec 11, 2018 · 7 comments
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Strange new BUG with landing in Plane master build. #9993

pompecukor opened this issue Dec 11, 2018 · 7 comments
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@tridge

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@pompecukor
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pompecukor commented Dec 11, 2018 •
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Bug report

Issue details

Something fishy going on in the latest arduplane master. Very easy to reproduce in Mission Planner SITL, however I first noticed it in real flight with 2 separate units that are running the latest master.

In short the problem is that on any mission with auto landing. Once the plane passes the last waypoint, before the land point. It rolls right and does a semi loiter, then rolls back left and heads for the landing point and lands.

This is very easy to reproduce, all you need is any random mission, I am including one for your convince set at a random location. As you can see WP4 is a waypoint, then WP5 is tha land point. Once the plane passes WP4 it goes right and then left.
Just run on Mission planner simulator. Select Fixed wind plane and run the mission. You will get the same result. I have tried it 5 times with different mission. As mention it happens in real life too. So not MP issue.

NOTE: Another strange thing is that it will only happen the first the first time you run a mission. If you restart same mission with the same plane it will not happen the second time. You need to disconnect and start simulator again for it to happen again.

Version
Latest Arduplane master build.

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[X] Plane
[ ] Rover
[ ] Submarine

Airframe type
Any fixed wing, including simulator

Hardware type
Irrelevant. happend on Sim too.

Logs
As it can be reproduced in sim anyone, no need for dataflash logs.

image

master land issue.zip

image
@pompecukor
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In this picture you can see what happens if you run the exact same mission, without disconnecting the plane. That is in Simulator. right after it lands. Just press restart mission and arm (if needed).
This time it will fly as expected. No hard right or any other turns when going from WP4 to WP5 (land).

image

@pompecukor pompecukor changed the title Strange new issue with landing in Plane master build. Strange new BUG with landing in Plane master build. Dec 11, 2018
@vierfuffzig
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yup, noticed that too the other day, but thought i messed something up...
for some reason on 1st flight of the same mission there's a bearing demand introduced that isn't present anymore when flying that same mission a second time:

don't know if this is related, but i noticed NAV_LAND's param4 field (desired yaw angle) is forced to 1 during waypoint handling, which is not exactly self-explanatory on fixed wing:

https://github.com/vierfuffzig/Chibios-miscellaneous/blob/master/SITL_Plane_2landings.BIN

@tridge
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tridge commented Dec 11, 2018

thanks, I've reproduced it in SITL
I've also added @WickedShell to the issue, as I suspect it is related to some new landing features he has been working on

@magicrub
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yeah, I suspect it's @WickedShell 's recent change too. I'll ping him

@WickedShell
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WickedShell commented Dec 12, 2018 •
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This is not from the recent quadplane landing stuff I've been doing. I had to use @pompecukor's mission to get it to break. Git bisect shows it broke in: 4f9c492 (AP_Landing: yaw correction on landing)

@WickedShell WickedShell removed their assignment Dec 12, 2018
tridge added a commit that referenced this issue Dec 12, 2018
@tridge
Revert "AP_Landing: yaw correction on landing"
9285e9d 
This reverts commit 4f9c492.

That commit was causing the landing issue here:

#9993

reverting until we find the correct fix
@tridge tridge mentioned this issue Dec 12, 2018
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tridge commented Dec 12, 2018

I've reverted the AP_Landing change that causes this issue
ping @EShamaev

@tridge tridge closed this as completed Dec 12, 2018
@EShamaev
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Looking into this, the problem might be outside of the landing code, but was revealed by the changes.

@EShamaev EShamaev mentioned this issue Dec 20, 2018
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LiYuanxing pushed a commit to LiYuanxing/ardupilot that referenced this issue Jan 10, 2019
@tridge @LiYuanxing
Revert "AP_Landing: yaw correction on landing"
39d9899 
This reverts commit 4f9c492.

That commit was causing the landing issue here:

ArduPilot#9993

reverting until we find the correct fix
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@WickedShell @tridge @magicrub @EShamaev @vierfuffzig @pompecukor