Fixed-Wing Mission Issue: UAV Unexpectedly Enters Orbit During Waypoint Navigation

PX4 Autopilot
1

I am facing an issue during fixed-wing mission navigation using PX4 firmware. Below is the detailed description of the observed behavior:

Issue Summary

During mission mode, the aircraft follows the initial waypoints correctly but later abruptly switches to a next waypoint and starts orbiting (loitering) around it even though the planned mission requires a pass-through path.
This unexpected orbit behavior is not commanded and happens without any flight mode change message.
This orbiting behavior repeats intermittently during missions.

Corrective Steps Already Taken

We reviewed the PX4 mission documentation thoroughly and verified all related parameters.
These parameters were confirmed before flight:

  • FW_LND_ANG

  • FW_LND_ABORT

  • FW_LND_USETER

  • MIS_TKO_LND_REQ

  • MIS_DIS_1WP

  • MIS_LND_ABRT_ALT

  • NAV_RCL_ACT

  • NAV_LOITER_RAD

  • NAV_FW_ALTL_RAD

  • NAV_ACC_RAD

We also ensured correct waypoint configuration:

  • MAV_CMD_NAV_WAYPOINT Param 3 (fly-through) is ignored by PX4.

  • Fly-through is active when Param 1 (time_inside) > 0, which is correctly applied.

Despite this, the UAV still triggers orbit mode unintentionally as shown in figure

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image1071Ɨ762 216 KB

1 Like
2

@Shalem can you share the log

3

Please find the link below for the log.

4
5

I have the exact same problem, either PX4 SITL or QGC is commanding the drone to go into orbit short after mission start, without any command from my, and Iā€™m using normal waypoints

image
image570Ɨ930 85.9 KB

6

this is the flight log