[Betatesting] Drone Gymkhana exercise

[javizqh]

Share here any issues, not solutions, related to this exercises. Do not comment anything else other than that.

This issue is not meant to be assigned to a single person, as its purpose is that multiple people test it.

[redwine-1]

Drone Gymkhana – Yaw Control Issue & Documentation Mismatch

Yaw Control Issue

I was testing the Drone Gymkhana exercise and noticed some unexpected behavior.

Initially, in my loop, I programmed the drone to move from the starting point to Cube 1. The angle from the starting point to Point 1 is 45°. I computed the yaw dynamically using:

az = arctan(y_diff, x_diff)
HAL.set_cmd_pos(8, 8, 2.5, az)

However, I observed that the drone often gets stuck midway. Sometimes it eventually recovers and continues toward the target, but other times it remains stuck indefinitely.

Video demonstrating the issue:
Stuck Behaviour

Interestingly, when I keep the same logic but set the yaw to a fixed value of 0 instead:

HAL.set_cmd_pos(8, 8, 2.5, 0)

The drone consistently reaches the cube without any issue.

Video demonstrating correct behavior:
Normal Behaviour

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Documentation Mismatch

The Drone Gymkhana exercise documentation states the cube locations as:

CUBE 1: (8, -8) m  
CUBE 2: (-8, -8) m  
CUBE 3: (-8, 8) m  
CUBE 4: (8, 8) m

However, the actual cube locations in the simulation appear to be:

CUBE 1: (8, 8) m  
CUBE 2: (8, -8) m  
CUBE 3: (-8, -8) m  
CUBE 4: (-8, 8) m

It seems the order in the documentation does not match the implementation.

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Questions

1. Is the observed yaw-related behavior expected?
2. How to update documentation to reflect the correct cube positions?

[JitinSaxenaa]

Hello @javizqh @jmplaza

While testing the Drone Gymkhana exercise, I noticed a couple issues :

As mentioned in the previous comment by @redwine-1, there appears to be a coordinate mismatch in the documentation, which I was able to verify by running the exercise (also visible in the demo video). The cube positions in the simulation do not match the coordinates stated in the docs.

In addition, I observed the following behavior:

1 - Pause Issue
When the exercise is paused, the drone does not fully freeze in place. It continues drifting instead of maintaining its position.

2 - Reset Issue
If the exercise is reset , it does not return to the initial takeoff position. Instead, it drops from its current position at the time of reset.

Demo video