While flying outside our hangar, we got too close to our GPS repeater which caused our position estimate to fail (estimator_local_position/0.eph > 1). In position mode, it behaves as I would expect when losing a valid position estimate by bailing to altitude, but in position slow it bails to descend mode. This seems like unintended behavior, as I would expect a position controlled mode to bail to altitude. Maybe this has been fixed in a slightly newer PX4 version? I’m using PX4 v1.15.4 for compatibility with some other parts of the system, but could probably update to v1.16 if necessary to prevent this in the future.
Below are three flights demonstrating the issue, one shows the position to altitude switch, one from position slow to descend, and one without any failsafes. As mentioned, all of these are relatively close to a GPS repeater inside our hangar.
Position > Altitude: https://review.px4.io/plot_app?log=4644a40f-26e6-4b60-a817-f365ac5d4435
Position Slow > Descend: https://review.px4.io/plot_app?log=97365408-a1ad-459b-801d-8e6aa0aff1c6
No problem: https://review.px4.io/plot_app?log=a156884d-08e8-460e-ae47-7bc47c6eddd3