Strange obstacle avoidance behavior

I’m conducting PX4 avoidance tests with a drone, but I’ve encountered some strange behavior during the tests and hope someone can help clarify the issue.

During the mission, the drone suddenly deviated from its flight path. Although I managed to complete the mission by switching modes, upon reviewing the log, I found that the drone’s deviation occurred after the message “obstacle avoidance system failed, loitering” appeared. Despite being in loiter mode, the drone continued to fly. Below is my flight review.

  1. https://review.px4.io/plot_app?log=0b324ad5-eb0d-4b22-942d-48f04bfac070
  2. https://review.px4.io/plot_app?log=8c085f44-d22e-4344-bf43-0354b103c62d

I suspect there is a communication issue between the FCU and the companion computer. Therefore, I tried disabling the avoidance function during the flight and successfully entered loiter mode, where the drone hovered in place. However, after switching back to mission mode, the drone once again deviated from its flight path. Below is my flight review.

  1. https://review.px4.io/plot_app?log=b2b52a74-1163-48fd-b32c-418bfc55fa9b

My companion computer is a Jetson Xavier running Ubuntu 20.04, with PX4 version 1.14, and I’m executing PX4 avoidance under ROS1.

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