If changing mode to LOITER fails, fallback to ALT_HOLD

3drobotics / ardupilot-solo

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If changing mode to LOITER fails, fallback to ALT_HOLD #298

Open nickspeal opened 6 years ago

nickspeal commented 6 years ago

We've seen a case where the drone entered failsafe.GPS_GLITCH state and remained in GUIDED mode. They tried to take manual control by changing mode to LOITER. The system refused to enter the LOITER mode, because of the GPS_GLITCH failsafe state.

This PR introduces a fallback mechanism where it attempts to enter ALT_HOLD mode after a failed attempt to enter LOITER mode.

proficnc commented 6 years ago

Are you doing a new release? Or should we look at integrating this in the community?

nickspeal commented 6 years ago

This is a candidate for a change to Site Scan behaviour.

proficnc commented 6 years ago

Ok, cool