search

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
11.02k stars 17.57k forks source link

ArduPlane: GCS unable to resume mission when RTL_AUTOLAND != 0 #8060

Open DonLakeFlyer opened 6 years ago

DonLakeFlyer commented 6 years ago

In order for QGC to support Resume Mission after a battery change it remembers the last waypoint which was current when the vehicle leaves Auto flight mode. I believe this is the same as Mission Planner, but not fully sure. If the vehicle has RTL_AUTOLAND != 0 when the user changes to RTL flight mode, it starts the RTL but it does not exit out of Auto. This in turn leads to the inability to use Resume Mission functionality.

Is there some other way to do this. Seems like an important use case for fixed wing.

QGC Issue here: https://github.com/mavlink/qgroundcontrol/issues/6286

DonLakeFlyer commented 6 years ago

@WickedShell How do you deal with this?

WickedShell commented 6 years ago

@DonLakeFlyer I've never set RTL_AUTOLAND to non 0 values so I've never encountered this. :)

The core problem is this mode isn't actually RTL. It is legitimately flying the planned mission after the selected DO_LAND_START, so the reporting of auto is correct (if slightly weird). Reporting RTL would also be confusing as the vehicle isn't executing it's normal RTL behavior. I'm not sure what the best fix for this is.

The best fix I can come up with at the moment is if we could report internal flight stage states. (see https://github.com/mavlink/mavlink/pull/727 for the example idea on flight_stage reporting)

magicrub commented 6 years ago

@DonLakeFlyer The problem is "RTL" is fairly dumb behavior; flies home and loiters. Allowing the user to ave a customized landing sequence is preferred. However, I understand your problem and agree that losing your place is a problem that should be address. Good thing to discuss at the dev call today.

DonLakeFlyer commented 6 years ago

What time is dev call, not sure if I'll be around.

DonLakeFlyer commented 6 years ago

Nope I missed it.

DonLakeFlyer commented 6 years ago

Reporting RTL would also be confusing as the vehicle isn't executing it's normal RTL behavior.

I would say that from an end user perspective that it is executing RTL. Especially since you specifically told it to RTL. I get that internally to the source that isn't really what is happening. If you RTL a multi-rotor it goes all the way to the ground. If RTL_AUTOLAND != 0 then fixed does the same thing. That seems like RTL to me.

magicrub commented 6 years ago

Weekly dev call is 2300 UTC (that's 3 hours from now) http://ardupilot.org/dev/docs/ardupilot-mumble-server.html#weekly-dev-calls

tridge commented 6 years ago

we will look into reporting mode RTL during RTL_AUTOLAND missions, as long as they don't do a DO_JUMP

DonLakeFlyer commented 6 years ago

Thanks everyone

Naterater commented 6 years ago

From the wiki:

The are three ways to trigger an auto-landing abort. All of them will only work while in AUTO mode and currently executing a LAND waypoint mission item...

I hope that the landing abort triggers are not affected by this.

Naterater commented 5 years ago

Was this worked out? I recall the difficulty from jumping to mission items at the end of the mission. There has been discussion about abstracting the autoland sequence if I remember correctly, and there was this thread in the discuss forums. https://discuss.ardupilot.org/t/multiple-closed-loop-mission-flight-plans/28506.