Hi everyone,
I’ve been working with the obstacle avoidance, it’s a little improved version of the horizontal bendyruler, in this as same as bendyruler xy_search, result in destination_new with new lat,lng and in wpnav_oa destination will be used in OA_SUCESS, in OA_SUCESS i’m using the result in BendyRulerHorizontal, some time drone increase it altitude if I’m flying in terrain following mode, I tried to log things for debugging, but unable to find the issue. Please help me with this, I’m attaching log for your refrence.
thanks
Link- LOG
How sure are you that this is not caused by air pressure changes in your barometer caused by wind or movement relative to the air (air speed)?
Hi @amilcarlucas I have analyzed the altitude data of baro also, and in auto mode i’m flying in terrain as alt frame, In terrain following this should not happen, also I logged the terrain offset and altitude passed in “_pos_control.input_pos_xyz(dest_NEU, terr_offset, 1000.0);” in log you see that in WALT, ALT for altitude passed , OFF for offset passed to that function.
To decouple OA from “baro pressure changes” caused by velocity/wind changes you should try to fly loiter, without OA active and see if the altitude changes when you accelerate and decelerate (break) abruptly.
If the problem is present in loiter without OA you must address it before playing around with OA.
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Hi @amilcarlucas , We conducted tests in Loiter mode, and everything is working as expected. However, during further testing and debugging, we identified an issue in the waypoint navigation (wpnav) sequence. Specifically, the problem arises when switching to the OA_SUCCESS state immediately after the OA_Processing state.
To temporarily address this, we’ve implemented a workaround where we reset the state to OA_NOT_REQUIRED before it switches to OA_SUCCESS. However, this is not a definitive solution.