Improvements to RTH/WP handling #5997
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…; Fix the bug when RTH will terminate if GPS is briefly lost even if FSM logic accounts for that
stronnag
reviewed
Jul 30, 2020
|
@digitalentity I'll do the #5974 tests later (weekend or monday); for now I'm set up for #5995 and #5997 |
|
Awesome, thanks heaps! |
|
Tested on FW:
Great improvement for the 0 WP case, no obvious regressions |
|
Thanks a lot for testing. Merging this. |
digitalentity
added
the
Release Notes
Merged
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
As pointed out in #5996, WP mode activation with no mission loaded will keep the current flight mode which may be counter-intuitive to the pilot. OSD will show that the mode is kept, however WP missions are generally not FPV. This PR creates a fallback in such case and will execute RTH instead which is safer than let the drone drift away.
Also fixes a bug when RTH procedure may get interrupted in case of a brief sensor loss and switch out to ANGLE, ACRO or MANUAL instead of EMERGENCY. On airplanes with a certain RTH settings a brief GPS loss is tolerated in the navigation state machine, while the RTH activation bug would still bail out. This PR fixes this by making RTH procedure sticky, similar to other navigation flight modes.
Force-RTH (failsafe) does not suffer from the bug.
@stronnag could you PTAL?