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Gathiyo / arducopter

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THR_FAILSAFE while in stabilize mode - initial motor drop-out #341

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
Entering failsafe from stabilize seems to make motors drop out for a short but 
disturbing moment. One would want and expect a smooth transition to RTL.
Also, please check the FS RTL altitude logic. I am not convinced it really 
climbs 10 meters before going home. And that preset RTL_ALT parameter, does it 
work at all?

Holding the quad in my hand at hover throttle and shutting of the TX would 
instantly make the motors drop thrust, but soon, within half a second i guess 
(have not yet checked the log) recover. But that momentary thrust drop-out was 
reason enough for me not to try this in flight!  
Anyway it would of course be desirable that when copter for whatever reason 
enters failsafe RTL, it should do it firmly but at same time with a certain 
smoothness in the transition. Even more important on big copters with mass and 
momentum, as well as for trad helis.

Also see this forum post:
http://diydrones.com/xn/detail/705844:Comment:781686

PLEASE do some rigourous testing and fixing of various failsafe scenarios 
before releasing 2.3.1

Thanks / Tomas

Original issue reported on code.google.com by tomas.so...@gmail.com on 11 Feb 2012 at 4:17

GoogleCodeExporter commented 8 years ago 
[deleted comment]
GoogleCodeExporter commented 8 years ago 
[deleted comment]
GoogleCodeExporter commented 8 years ago 
[deleted comment]
GoogleCodeExporter commented 8 years ago 
Encountering similar issues on 2.5.5

The debouncing code possibly needs to be revisited. Some Rx receivers (i.e. 
Orange) will failsafe to a radio input value of 1400-1500 (g.rc_5.radio_in) 
when comm is lost. If you have a a mode set for 1500 (e.g. LAND), then failsafe 
will switch from RTL to LAND due to read_control_switch() being called.

To Tomas--do you have other modes set on channel 5?

This can also trigger a mode (other than RTL) if you have something other than 
STAB set and read_control_switch() gets called before the debouncing triggers 
the failsafe = true logic. I had that happen 2 times and failsafe did not 
trigger and it went into auto or land. I debugged it with printf's and 
throttle_out was 0 (but didn't go into failsafe).

Original comment by cwcent...@gmail.com on 27 Jun 2012 at 3:50

GoogleCodeExporter commented 8 years ago 
I built a small patch that will prevent the throttle from dropping during the 
quarter second the throttle failsafe is being debounced.  I'll test it and put 
it to the trunk.

Original comment by jasonshort on 27 Jun 2012 at 4:15

GoogleCodeExporter commented 8 years ago 
Issue closed. 
If you find this is an error please report it in the new issues list
https://github.com/diydrones/ardupilot/issues?labels=ArduCopter&page=1&state=ope
n

Original comment by Benny.Si...@gmail.com on 20 Jan 2013 at 11:21