search

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
10.74k stars 17.19k forks source link

Plane: Landing permanently disable geofence #5544

Open WickedShell opened 7 years ago

WickedShell commented 7 years ago

Issue details

Once you begin a landing sequence the geofence can be disabled ( https://github.com/ArduPilot/ardupilot/blob/649ef0fc1614cacf823115cf8433319a4f8da563/ArduPlane/commands_logic.cpp#L404 ) but if you abort the landing or change modes for any reason the fence is never re enabled. (This is not related to AP_Landing changes, and is a pre existing bug)

Version

Master

Platform

[ ] All [ ] AntennaTracker [ ] Copter [ x ] Plane [ ] Rover

EDIT: Updated the link to the code to be useful/correct.

ATR-oCiTy commented 5 years ago

I'm a beginner and would like to take up this issue. Could you please elaborate on what I have to do to implement this. Thanks in advance.

peterbarker commented 5 years ago

@AshleyTR The first thing you need to do is get a repeatable test showing the problem. Do you have a SITL setup yet? If not, follow the Wiki to get one.

We'll have to work out what the new desired behaviour is. @WickedShell will be able to help here, but I'd guess that you would probably only re-enable the fence if it was auto-enabled as part of a mission.

Once you've done an abort you'd probably monitor your altitude, and if you exceed your takeoff altitude you would re-enable the fence.

Thing to watch out for here include latent state - for example, if the vehicle actually lands we probably don't want to magically re-enable the fence if you throw the Plane off again in (e.g.) FBWA and climb above the former takeoff altitude.

We probably need to discuss this on a devcall to make sure the Plane leads (@tridge @magicrub) know what's going on.

magicrub commented 5 years ago

I should be at the next Dev call. Sorry for missing them lately.

joshanne commented 3 years ago

As part of #15288 this has been (potentially only half) addressed. When a landing sequence is aborted (due to pilot throttling or issuing a DO_GO_AROUND command), the fence is re-enabled so long as the fence auto-enable condition is set.

ie. If a fence was auto-enabled on takeoff, and was disabled for a landing, when an abort occurs it enables again once at the takeoff height.

This does not address a pilot taking control of the vehicle with a mode change. By the same logic (though I have not tested) if during a takeoff the fence would never auto-enable.