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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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VTOL Failsafe behaviour not as described #11535

Closed Hwurzburg closed 5 years ago

Hwurzburg commented 5 years ago

Bug report

Issue details

FS behaviour not as described...see details below

Version Latest build from about two weeks ago

Platform [ ] All [ ] AntennaTracker [ ] Copter [X ] Plane [ ] Rover [ ] Submarine

Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc) Convergence forward tilt-rotor tri-copter qplane Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc) Matek F405-WING Logs Please provide a link to any relevant logs that show the issue https://www.dropbox.com/s/vsa69k5fkuil8na/FS.BIN?dl=0

Relevant Params: THR_FAILSAFE,1 FS_LONG_ACTN,0 FS_LONG_TIMEOUT,5 FS_SHORT_ACTN,0 FS_SHORT_TIMEOUT,1.5 RTL_AUTOLAND,0 RTL_RADIUS,50 Q_RTL_ALT,15 Q_RTL_MODE,1

When FS (throttle failsafe) occurs in plane modes, plane RTL executed after CIRCLE, and then changes to QRTL within RTL_RADIUS, proceeds home, then QLAND, as expected...

However, when in ANY copter mode and FS initiated, QLAND immediately occurs....not QRTL, independent of if within or beyond RTL_RADIUS....I would have expected it to perform either a normal QRTL or transition to plane mode RTL (if beyond RTL_RADIUS)

Hwurzburg commented 5 years ago

After studying the code, I find that this is the intended coded behaviour....ie. to QLAND if in any Qmode a FS occurs, except QRTL....I will : first, update the Plane failsafe and Flying a Quadplane wiki docs with the correct behaviour....and then: work on a code enhancement to provide a safe return to target when FS occurs in a Qmode....landing a Quadplane on an uncontrolled distant location is not safe in my opinion....

Hwurzburg commented 5 years ago

Have issued PRs for WIKI update