{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/7068","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/7068/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/7068/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/7068/events","html_url":"https://github.com/PX4/Firmware/issues/7068","id":222209442,"number":7068,"title":"Setpoint raw issues Mavros ROS","user":{"login":"schmittlema","id":14075048,"avatar_url":"https://avatars3.githubusercontent.com/u/14075048?v=4","gravatar_id":"","url":"https://api.github.com/users/schmittlema","html_url":"https://github.com/schmittlema","followers_url":"https://api.github.com/users/schmittlema/followers","following_url":"https://api.github.com/users/schmittlema/following{/other_user}","gists_url":"https://api.github.com/users/schmittlema/gists{/gist_id}","starred_url":"https://api.github.com/users/schmittlema/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/schmittlema/subscriptions","organizations_url":"https://api.github.com/users/schmittlema/orgs","repos_url":"https://api.github.com/users/schmittlema/repos","events_url":"https://api.github.com/users/schmittlema/events{/privacy}","received_events_url":"https://api.github.com/users/schmittlema/received_events","type":"User","site_admin":false},"labels":[{"id":10884838,"url":"https://api.github.com/repos/PX4/Firmware/labels/bug","name":"bug","color":"fc2929","default":true}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":32,"created_at":"2017-04-17T19:33:43Z","updated_at":"2017-11-17T21:33:48Z","closed_at":"2017-07-31T13:26:51Z","author_association":"NONE","body":"This is based off of issue (https://github.com/PX4/Firmware/issues/5907) which is closed but I still can't get to work.\r\n\r\nI have implemented with setpoint raw and multiple type masks (below) with no success. I get the quad rolling around mostly. Setting just position or velocity works fine (given the right typemask) but not both. I am trying to auto hold a altitude while moving around via x and y velocities. In all cases I set the velocity and positions, even the ignored ones (not that it made a difference).\r\ncoordinate frame is set to 1 if that is important.\r\n\r\nIgnore x,y position: `0b0000101111000011`\r\nIgnore x,y position and z velocity: `0b0000101111100011` <-- this will rocket straight up if (despite being ignored) I set `position.x`, `position.y`, `velocity.z = 0`. When I commented them out, it rolled around.\r\n\r\nIs there something wrong with my typemask? Thanks!"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/345371424","html_url":"https://github.com/PX4/Firmware/issues/7068#issuecomment-345371424","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/7068","id":345371424,"user":{"login":"aykutkabaoglu","id":12614433,"avatar_url":"https://avatars1.githubusercontent.com/u/12614433?v=4","gravatar_id":"","url":"https://api.github.com/users/aykutkabaoglu","html_url":"https://github.com/aykutkabaoglu","followers_url":"https://api.github.com/users/aykutkabaoglu/followers","following_url":"https://api.github.com/users/aykutkabaoglu/following{/other_user}","gists_url":"https://api.github.com/users/aykutkabaoglu/gists{/gist_id}","starred_url":"https://api.github.com/users/aykutkabaoglu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aykutkabaoglu/subscriptions","organizations_url":"https://api.github.com/users/aykutkabaoglu/orgs","repos_url":"https://api.github.com/users/aykutkabaoglu/repos","events_url":"https://api.github.com/users/aykutkabaoglu/events{/privacy}","received_events_url":"https://api.github.com/users/aykutkabaoglu/received_events","type":"User","site_admin":false},"created_at":"2017-11-17T21:33:48Z","updated_at":"2017-11-17T21:33:48Z","author_association":"NONE","body":"Although i use up to date version of px4, i faced with same issue while i was sending x,y,z position and yaw data combination to setpoint_raw/local topic. Whenever i set some yaw value in the OFFBOARD mode, the device starts to spin around in simulations. If i set the ignore yaw bitmask, there is no problem with positions but, whenever i activate yaw bitmask or yaw_rate bitmask, i lose control and device starts to fly as drawing spirals.\r\n\r\n```\r\nmavros_msgs::PositionTarget target_msg;\r\n    target_msg.header.frame_id= \"map\";\r\n    target_msg.coordinate_frame = 1;\r\n    target_msg.header.stamp = ros::Time::now();\r\n    target_msg.type_mask = 0b0000101111111000;\r\n        target_msg.position.x = 0;\r\n        target_msg.position.y = 0;\r\n        target_msg.position.z = 5;\r\n        target_msg.yaw = 0;\r\n```\r\n\r\nAdditionally, i tried to use WaypointPush service by importing yaw data to Parameter4 in the message but the result is same. The fligth route changes suddenly and drone starts roll around and the radius of the circles increase each turn, like the controller gets in oscillation. \r\nIs there a bug in the firmware to control position and yaw data in the offboard mode or am i missing some trick?"}}
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