Fix standard_vtol_drop transition failure #913
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- This now follows the convention for the liftdrag_plugin correctly
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Airspeed is defined in the standard_vtol in https://github.com/PX4/PX4-SITL_gazebo/blob/669d7f5ae1f2211261eed4e48eb91099e5ec344b/models/standard_vtol/standard_vtol.sdf.jinja#L171-L179
Could you also fix the airspeed of the standard_vtol_drop to make the PR more complete?
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Thanks for the review! Ah so the uri include was missing 🤦♂️. I will add that 👍 But I have also noticed other differences as well:
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@junwoo091400 It probably fell behind since the |
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@junwoo091400 Any updates on this? |
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Closing as stale, @junwoo091400 Please reopen if you continue to work on it |
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About
Running the
make px4_sitl gazebo_standard_vtol_dropand flying a mission with VTOL transition in upstream PX4 results in the vehicle going out of control. Which seems to be related to #730This was found while developing PX4/PX4-Autopilot#20230
Fix
Doing
diff /home/junwoo/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models/standard_vtol/standard_vtol.sdf.jinja /home/junwoo/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models/standard_vtol_drop/standard_vtol_drop.sdf.jinjaclearly pointed out the fact thatcl_deltaandalpha0elements in thestandard_vtol_drop.sdf.jinjawere outdated naming convention.This PR includes 2 commits that updates these 2 variables. And it seems like renaming
cl_deltaalone fixed the crash, but renamingalpha0also doesn't hurt so I included it in the PR.Discussion
Currently, still the
.sdf.jinjafiles have some diff and I am suspecting that the airspeed sensor not working in thestandard_vtol_dropSITL is related to this. @Jaeyoung-Lim according to the screenshot above, could you spot if airspeed plug-in is wrongly implemented instandard_vtol_drop?I'm also not sure how the
standard_vtolitself has airspeed coming in, as I can't find the airspeed keyword in it's .sdf.jinja file 🤔