Tailsitter mission problem

[RomanBapst]

@dagar FYI
Seems like tailsitter mission and position control is broken on master (it does not track at all, roll setpoints changes sign frequently).
I found a working version not too long ago and will do a bisect.

[dagar]

Let's get a simple tailsitter mission added to CI after this is fixed.

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On Fri, Apr 13, 2018, 06:14 Roman Bapst ***@***.***> wrote: @dagar <https://github.com/dagar> FYI Seems like tailsitter mission and position control is broken on master (it does not track at all, roll setpoints changes sign frequently). I found a working version not too long ago and will do a bisect. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#9300>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAFK6EdgfoxWmYm0ZN98eA-TdnxVlpyzks5toHqDgaJpZM4TTMxO> .

[dagar]

@RomanBapst I won't have time to look into this today, but I have a hunch this could be the problem.

https://github.com/PX4/Firmware/blob/master/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp#L706-L718

If that's the case we really should centralize the tailsitter frame conversion directly in the attitude update method rather than having them spread out and done as needed.

[dagar]

WIP PR to add tailsitters to CI mission testing. #9307