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DroneResponse / hardware-tests

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Stop the tests when users take over with RC transmitter #2

Open murphym18 opened 2 years ago

murphym18 commented 2 years ago

If we detect that someone is taking control with the RC transmitter, we need to stop sending commands to the flight controller. I think the easiest way to do this is by exiting the program if the flight controller switches to POSCTL mode.

murphym18 commented 2 years ago

I was able to get this working. But I needed to bind a button to position control mode. Using the sticks was not reliable. But pressing a button worked every time.

This is how I setup QGroundControl: https://docs.px4.io/master/en/config/joystick.html

(I used an xbox one controller connected via Bluetooth to Linux)

murphym18 commented 2 years ago

I later found out that the sticks were unreliable in offboard mode because of the default value for COM_RC_OVERRIDE. I added a small pre-flight method to Drone.py and that should make RC take over with the sticks more reliable. At this time a mode-change button or moving the sticks let you take control.