PX4 Autonomy & Verification

Release, return,
then a precision landing.

One vehicle climbs to a release point in search_field, holds, and opens a simulated dispenser only when altitude, weather, airspace, traffic, and communications all allow it. It then returns to staging and hands trajectory ownership to the precision-landing controller, which follows an ArUco marker. MAVSDK is the only setpoint publisher. ROS is unused on this flight.

Loading the completed sortie…

What the completed sortie did

How a release is allowed

1. Climb and transit. PX4 takes off to about 8 m. The orchestrator then flies to the release station at north 30 m, east 10 m.
2. Hold. The vehicle waits on station inside the local altitude band.
3. Authorize. The dispenser opens only in the dispense phase, and only after altitude, weather, airspace, traffic, and simulated communications agree, in that order.
4. Close and return. The simulated dispenser closes, then the vehicle returns to the staging point at the field origin.
5. Precision land. At staging, ownership moves to the marker controller. Ground truth is used only to score the touchdown.

Five later flights

A separate campaign flew the same sortie with faults. Those runs are listed on their own. The completed flight above is the earlier nominal sortie, with no geofence in that report.

What this page is showing

• Simulation only. Weather is a static simulated observation. The dispenser is a software flag. operational_approval stays false, and no physical aircraft has flown this sortie.
• One completed flight. The 9.8 cm touchdown is that single run, on marker 4. It is the integrated seeding sortie, scored from PX4’s position estimate.
• The later nominal run failed. Marker age reached the 5 s timeout at the surface, so that campaign did not pass as a set. Guided touchdowns in the two recovered aborts were 2.1 cm and 5.7 cm. The marker-loss landing, 12.2 m from the last marker, is kept out of that pair.
• The swarm and search replays are other recordings. This sortie does not have a 3D playback trace yet.

Source

Completed flight: evidence/integrated_seeding/sitl_report.json. Campaign: evidence/mission_verification/campaign_summary.json. Orchestrator: mission_orchestrator.py.