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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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Separate failsafe scenarios for auto and non-auto modes #1255

Closed rb1205 closed 7 years ago

rb1205 commented 7 years ago

As no flight is completely autonomous (not yet at least) there's always at least one phase where the UAV is being manually controlled. Conversely, the failsafe_procedure applies to all the flight from beginning to end, without considering if the flight is autonomous or not. Thus, any "stable" failsafe condition happening outside of autonomous flight will result in a crash or a flyaway. This is why I think that the NONE failsafe procedure being introduced in 1.6 is intrinsically unsafe, and with no real world uses in its proposed form. The best course of action IMHO is to always have a real failsafe procedure defined, then having a separate option (eg. failsafe_ignore_when_auto) that prevents failsafe from triggering while on autonomous flight.

rb1205 commented 7 years ago

This will also cover those cases (and I guess are the vast majority) where you use the same UAV both for autonomus missions and manual flights.

digitalentity commented 7 years ago

Yes, NONE is intrinsically unsafe.

In next phase of failsafe rework we'll have failsafe procedures separately configurable for auto and non-auto modes. I.e. you can have RTL in manual and NONE in auto modes.

rb1205 commented 7 years ago

That'd be overdoing it IMHO. The only thing one should be able to configure is if the failsafe should trigger or not, but the failsafe procedure itself should be the same either way.