Sending MAV_CMD_NAV_TAKEOFF while flying in other flight modes pushes the drone towards vec = (1, 1, 0)

[squizz617]

Describe the bug
When the drone is flying in MANUAL / ALTCTL / POSCTL / ACRO (and probably more?) mode and receives a MAV_CMD_NAV_TAKEOFF message (to set mode to TAKEOFF), it flies towards (x, y, z) = (1, 1, 0) direction.

To Reproduce
Steps to reproduce the behavior:
[terminal 1] make px4_sitl_rtps gazebo -j4
[terminal 2] Download and run the PoC

Expected behavior
As described in the documentation, the drone should get to the target altitude and hold. No movement in the X and Y direction is expected.

Log Files and Screenshots

• Flight review: https://logs.px4.io/plot_app?log=a0ec7e87-0bb5-44bd-8397-5af27a1d9882

Drone (please complete the following information):

• Build: px4_sitl_rtps
• tested commit: a2645418

[xiaobai-cai-hold]

hello , do you use ros2 to send MAV_CMD_NAV_TAKEOFF message?
I used ros2 to send MAV_CMD_NAV_TAKEOFF message to px4 , it can be set to takeoff mode, but it can't takeoff.
I found the documentation you described above, takeoff need some params, however I did't find any ways to set takeoff params?

Can you share your ways that control the vehicle to takeoff ? thanks in advance

[squizz617]

Hi @xiaobai-cai-hold.
As shown in the PoC above, I used MAVLink (through pymavlink APIs), not ros2, for setting takeoff mode.
I thought with ROS2 and rtps bridge, we can only use the offboard mode.. anyways, it seems that you should create a separate issue for your question.

[mcsauder]

I think I've replicated this issue. https://review.px4.io/plot_app?log=aa495108-dcc2-4b03-bf98-a87ab54af336
Glancing at the takeoff logic I can't see where the takeoff setpoint is being generated, however, I also can't determine what the difference from 1.12.3 is.

[xiaobai-cai-hold]

Hi @xiaobai-cai-hold. As shown in the PoC above, I used MAVLink (through pymavlink APIs), not ros2, for setting takeoff mode. I thought with ROS2 and rtps bridge, we can only use the offboard mode.. anyways, it seems that you should create a separate issue for your question.

thanks for your replying, I find that ros2 can only set uav to offboard mode to fly. About flying params,the offical said that they will make a param file. I believe that if that finish, using ros2 to control the uav is easy.