Rotation in yaw when entering AUTO.LAND

shawn_ricardo · August 9, 2023, 11:26pm

When switching from Offboard mode to AUTO.LAND via /mavros/set_mode service, the drone will yaw to a value that doesn’t immediately make sense to me. Does someone know why this yaw setpoint is changing and how to prevent it from happening?

Thanks!

sibujacob · August 10, 2023, 2:05am

Hi,
Are you on PX4 v1.14.-rc1 . Kindly share your log file

shawn_ricardo · August 10, 2023, 2:10am

Hi, thanks for your response.

Here is my log:
https://review.px4.io/plot_app?log=844410b4-3183-4477-9372-5c61c1bac109

sibujacob · August 10, 2023, 2:20am

Hi,

You have a v. good battery chemistry. What is the battery capacity and prop size

shawn_ricardo · August 10, 2023, 2:31am

Thanks! It’s a 6S LiPo, 10in props

sibujacob · August 10, 2023, 2:43am

I see that during landing the drone shifts to position mode and then to land mode again. Do you get GPS from ground position or can you take off the drone using position mode becos for position mode to be active you require GPS .

Edit-1 Also please check this post …may be related …

shawn_ricardo · August 10, 2023, 2:59am

Are you referring to timestamp 0:53.5? If so that occurs after the yaw movement I’m interested in.

The yaw movement occurs at timestamp 0:32.6, at the switch from OFFBOARD to LAND