Setting ARSPD_USE = 1 in SITL (gazebo) results in unexpected behaviour

ArduPlane
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1

I’m encountering an issue in SITL (using Gazebo) when enabling ARSPD_USE.

When ARSPD_USE = 0, the flight behaves as expected, and everything seems normal (see attached logs and graphs for reference). However, when I set ARSPD_USE = 1, the throttle starts oscillating wildly between 0% and 100%. This causes the altitude to fluctuate significantly, creating a rollercoaster-like trajectory.

Has anyone faced a similar issue? Is there a parameter I might be missing, or could it be something specific to my setup?

  • Logs of identical mission for both ARSPD_USE = 0 and ARSPD_USE = 1 cases.
  • Graphs showing the behavior of the throttle and altitude in both scenarios.

ARSPD1
ARSPD12080×590 186 KB

ARSPD0
ARSPD02064×599 118 KB

Logs.

2

Hello @pavle123, there is no airspeed sensor data published from Gazebo to SITL. Setting ARSPD_USE = 1 results in undefined behaviour.

3

Hi @rhys and thank you for your response!

Is this really the case? After closer inspection of the relevant code, it seems to me that airspeed is automatically calculated, even though Gazebo does not directly publish this data for SITL.