weixin_39732027
weixin_39732027
2020-12-27 02:34

SanityCheck: prevent unsafe forms of arming

This prevents a problem that caused an unsafe start of his system.

Arming while in autonomous modes (e.g. RTH, PH, AH) can allow unexpected behavior and is certainly an untested path. This patch creates an error condition when in those modes and disarmed or arming to prevent arming. In this case one should switch to a traditional manual mode, arm, and then engage the AP functionality.

该提问来源于开源项目:TauLabs/TauLabs

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6条回答

  • weixin_39796363 weixin_39796363 4月前

    Looks good.

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  • weixin_39732027 weixin_39732027 4月前

    Hopefully we can get this merged fairly quickly since it fixes a safety issue. Thanks for catching this

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  • weixin_39680609 weixin_39680609 4月前

    My knees thanks you in advance for this patch ;). #ithurts

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  • weixin_39732027 weixin_39732027 4月前

    if you have a chance could you look at this. I've tested it on Sparky and it works as advertised (stops arming in autonomous modes).

    As a small aside I would prefer it to not set an error condition but some other indication that it is just a transient safety condition but we don't currently have a mechanism for this and I'd prefer not to delay safety issues.

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  • weixin_39680609 weixin_39680609 4月前

    I've just tested it on Revomini, works ok too as expected. There's probably a solution for the alt hold big throttle dangerous behavior when arming cause we should be able to take off with alt hold vario enabled like Dji, Multiwii, MK, apm & others ( low throttle stick position means getting down, so it shouldn't push throttle input this way ) .

    For now, this already prevent dangerous behavior until a better solution is found.

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  • weixin_39732027 weixin_39732027 4月前

    If you want to start a separate issue to discuss that, we can. Currently it starts in all hold then when you pass the stick through 50% it enables various mode. We probably need two modes or something.

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