Safety Concerns about Lacking Complete Configuration Validataion in Program

PX4 Autopilot
1

Dear community,

I would like to confirm whether the following issue poses a safety concern due to the difficulty in validating the correctness of configuration parameter combinations, even when each configuration value falls within the valid range according to the official documentation.

I have tested the following parameter configuration combinations in PX4 Ardupilot 1.15 using the Gazebo simulator with MC_mission_box.plan from the PX4 Ardupilot repository as the mission. The parameters are configured before mission starting. Each group of parameters, starting with a minus character, leads to the copter experiencing trajectory oscillation and crashing. The value of each parameter follows the parameter directly, and all values are within the valid range according to the documentation.

  • param set MC_ROLLRATE_K 0.05

  • param set MC_PITCHRATE_K 0.05

  • param set MC_YAWRATE_K 0.05

  • param set MC_YAWRATE_MAX 5
    param set MC_ROLLRATE_MAX 12

  • param set MC_PITCHRATE_MAX 14
    param set MPC_XY_P 0.3
    param set MPC_XY_VEL_P_ACC 1.3

  • param set MC_PITCHRATE_MAX 14
    param set MPC_XY_P 0.3
    param set MPC_XY_VEL_D_ACC 0.12

  • param set MC_PITCHRATE_MAX 14
    param set MPC_XY_P 0.3
    param set MPC_XY_TRAJ_P 0.1

  • param set MC_PITCHRATE_MAX 14
    param set MPC_XY_P 0.3
    param set MPC_JERK_AUTO 79