As title, I just upgraded to 4.10 stable and discovered a regression. EXTENDED_SYS_STATE no longer changes correctly.
I set my quadcopter to GUIDED mode and arm it. I see that landed_state in the EXTENDED_SYS_STATE message starts as MAV_LANDED_STATE_ON_GROUND as expected.
Now I command a takeoff and see the same field change to MAV_LANDED_STATE_TAKEOFF.
Unfortunately once the drone has taken off, this field never changes at all. It just stays as MAV_LANDED_STATE_TAKEOFF.
The field should change to MAV_LANDED_STATE_IN_AIR once the drone has completed the takeoff command.
Has anyone else seen this? Should I put a log here?
I just finished playing with this on 4.1 in SITLusing a typemask that ignores everything except position and then ignore everything but position & yaw rate.
I could not replicate this behavior. Could you also tell us the typemask you are are using? Along with providing logs of course
Log can be found here with password as my username:
I definitely am seeing these log messages come in with the incorrect fields set. Or maybe the issue is for some reason my takeoff never completes?
For full clarity, I use MAV_CMD_SET_MESSAGE_INTERVAL to request the MAVLINK_MSG_ID_EXTENDED_SYS_STATE message once every 500ms.
I decode the incoming MAVLINK_MSG_ID_EXTENDED_SYS_STATE to the mavlink_extended_sys_state_t struct.
I then check the contents of landed_state regularly to check when takeoff has finished.
To perform takeoff, I do the usual arming procedure and guided mode stuff followed by sending MAV_CMD_NAV_TAKEOFF to a 10m altitude.
I have been using the same program to control my drone via Mavlink for some time which is why I found the issue to be a clear change in behaviour since the only changes I made (I hope) were the upgrade to Arducopter 4.10.
Indeed it doesn’t change the state at the end of the takeoff command, that is due to a recent change in the takeoff sequence. I will see if we could correct this. Thanks for the report
Excellent news. Thanks for fixing this. I’m not sure how useful my log file was to you as I think I uploaded the wrong one. Here is the one I should have uploaded with password my username:
Is there an easy way to download the fixed version of Ardupilot instead of waiting for the next stable release? Thanks again.
