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ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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Copter: SmartRTL causing Internal Error 100000 #22780

Open andrefreitas97 opened 1 year ago

andrefreitas97 commented 1 year ago

Bug report

Issue details

If I engage SmartRTL with a switch 3 consecutive times while the drone is disarmed I get Internal Error 100000 at the third time. I believe this should be some type of bug.

Version 4.3.3

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

Airframe type Quad

Hardware type Kakute H7

shivam969619 commented 1 year ago

I am new here. Can i take this issue.

prathamesh7255 commented 1 year ago

@andrefreitas97 when it shows the error for the third time does it take time of 10 seconds or does it show the error immediately?

prathamesh7255 commented 1 year ago

I am new here. Can I take this issue.

Hello Shivam, I would recommend you start with good first issues.

prathamesh7255 commented 1 year ago

@andrefreitas97 when it shows the error for the third time does it take time of 10 seconds or does it show the error immediately? @rmackay9 if you know, please help.

andrefreitas97 commented 1 year ago

@prathamesh7255 the error shows immediately after the third time I engage SmartRTL

prathamesh7255 commented 1 year ago

@andrefreitas97 I think the issue is almost resolved but as I was not able to reproduce the issue on my GCS, would it be fine for you to have an online meeting to clear some doubts? if it's fine, you can mail me the time which suits for you. you will find my email on my profile.

prathamesh7255 commented 1 year ago

@andrefreitas97, how many total waypoints were there when engaging smart RTL, three or more?

andrefreitas97 commented 1 year ago

There were none because it had just been turned on on my desk with no gps fix

prathamesh7255 commented 1 year ago

There were none because it had just been turned on on my desk with no gps fix

@rmackay9 sir, I think the absence of fixed GPS is causing the error. What should we do then? as we have several choices:

  1. we can consider adding a check for GPS lock before engaging SmartRTL. If the GPS lock is unavailable, we can either prevent the SmartRTL mode from being engaged or we can warn the user that SmartRTL is not recommended without a GPS lock.
  2. we may also consider implementing a timeout mechanism for GPS lock acquisition, where the SmartRTL mode is automatically disengaged if the GPS lock is not acquired within a certain period of time.
rmackay9 commented 1 year ago

I think this issue is a duplicate of https://github.com/ArduPilot/ardupilot/issues/17416

rmackay9 commented 1 year ago

This PR could resolve the issue https://github.com/ArduPilot/ardupilot/pull/17419