{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/9616","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/9616/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/9616/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/9616/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/9616","id":373081232,"node_id":"MDU6SXNzdWUzNzMwODEyMzI=","number":9616,"title":"Copter: climb infinitly if rangefinder is stuck","user":{"login":"khancyr","id":705341,"node_id":"MDQ6VXNlcjcwNTM0MQ==","avatar_url":"https://avatars1.githubusercontent.com/u/705341?v=4","gravatar_id":"","url":"https://api.github.com/users/khancyr","html_url":"https://github.com/khancyr","followers_url":"https://api.github.com/users/khancyr/followers","following_url":"https://api.github.com/users/khancyr/following{/other_user}","gists_url":"https://api.github.com/users/khancyr/gists{/gist_id}","starred_url":"https://api.github.com/users/khancyr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/khancyr/subscriptions","organizations_url":"https://api.github.com/users/khancyr/orgs","repos_url":"https://api.github.com/users/khancyr/repos","events_url":"https://api.github.com/users/khancyr/events{/privacy}","received_events_url":"https://api.github.com/users/khancyr/received_events","type":"User","site_admin":false},"labels":[{"id":24259148,"node_id":"MDU6TGFiZWwyNDI1OTE0OA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/BUG","name":"BUG","color":"fc2929","default":false},{"id":24269224,"node_id":"MDU6TGFiZWwyNDI2OTIyNA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-10-23T16:10:24Z","updated_at":"2018-10-24T00:18:26Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"### Bug report\r\n\r\n**Issue details**\r\n\r\nOn Copter, if the rangefinder is stuck on a value (wire problem, fog, leaf, etc) then the copter will climb on descend infinitly in Loiter, poshold, alt_hold modes.\r\n\r\nThis is due to the call of get_surface_tracking_climb_rate() function that only check the rangefinder heatlth (that isn't a well named function). \r\n\r\nMy proposal is to add a check from the EKF or baro to validate the rangefinder measurement or improve the glitch counter to take into account the stucking.\r\n\r\nThis behavior can be easily play on SITL. In library/AP_HAL_SITL/sitl_rangefinder.cpp, add \r\n    range_value = 1.5;\r\nbefore     float altitude = range_value;\r\nto force a fixed value on rangefinder.\r\nThen launch SITL, arm, takeoff. Switch to loiter. Put some throttle (rc 3 1800), wait some climb, put back throttle to neutral (rc 3 1500). The altitude will continue to raise. Same append on descend. \r\nSwitching mode will stop the climbing !\r\n**Version**\r\ncopter 3.5 to 3.7-dev\r\n**Platform**\r\n[  ] All\r\n[  ] AntennaTracker\r\n[X] Copter\r\n[  ] Plane\r\n[  ] Rover\r\n[  ] Submarine\r\n\r\n**Airframe type**\r\n_What type of airframe (flying wing, glider, hex, Y6, octa etc)_\r\n\r\n**Hardware type**\r\n_What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)_\r\n\r\n**Logs**\r\n_Please provide a link to any relevant logs that show the issue_\r\n"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/432467148","html_url":"https://github.com/ArduPilot/ardupilot/issues/9616#issuecomment-432467148","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/9616","id":432467148,"node_id":"MDEyOklzc3VlQ29tbWVudDQzMjQ2NzE0OA==","user":{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"created_at":"2018-10-24T00:18:26Z","updated_at":"2018-10-24T00:18:26Z","author_association":"CONTRIBUTOR","body":"I think this is a duplicate of this existing issue: https://github.com/ArduPilot/ardupilot/issues/4697"}}
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