INav 1.9.1 not arming in POSHOLD mode

[Seeelefant]

If your issue looks like a hardware fault or a configuration problem please don't raise an issue here.

Please consider using other user support options such as asking the manufacturer of the hardware you are using, RCGroups, Slack or other user support forums & groups (e.g. facebook).

Board and Version

MATEK F722 inav 1.9.1

Use CLI command version and put its output here

version

INAV/MATEKF722 1.9.1 Apr 21 2018 / 13:43:00 (03a5c1922)

If it's a custom-compiled firmware please mention this

Behavior

Switching to mode "POSHOLD" leads to "Navigation is unsafe" POSHOLD

Entering CLI Mode, type 'exit' to return, or 'help'

status

System Uptime: 216 seconds Current Time: 2018-05-27T14:49:14.041+00:00 Voltage: 16.43V (4S battery - OK) CPU Clock=216MHz, GYRO=MPU6500, ACC=MPU6500, BARO=BMP280, MAG=HMC5883 STM32 system clocks: SYSCLK = 216 MHz HCLK = 216 MHz PCLK1 = 54 MHz PCLK2 = 108 MHz Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=OK SD card: Startup failed Stack size: 6144, Stack address: 0x20010000, Heap available: 1024 I2C Errors: 0, config size: 3500, max available config: 16384 ADC channel usage: BATTERY : configured = ADC 1, used = ADC 1 RSSI : configured = ADC 3, used = none CURRENT : configured = ADC 2, used = ADC 2 AIRSPEED : configured = none, used = none System load: 1, cycle time: 2004, PID rate: 499, RX rate: 110, System rate: 9 Arming disabled flags: NAV CLI

#

bootlog

Time Evt Description Parameters 1: 0 CONFIG_LOADED 1: 1 SYSTEM_INIT_DONE 257: 19 TIMER_CHANNEL_MAPPED (1, 1, 0, 2) 257: 19 TIMER_CHANNEL_MAPPED (2, 2, 0, 2) 257: 19 TIMER_CHANNEL_MAPPED (3, 3, 0, 2) 257: 19 TIMER_CHANNEL_MAPPED (4, 4, 0, 2) 257: 19 TIMER_CHANNEL_MAPPED (5, 5, 0, 2) 257: 19 TIMER_CHANNEL_MAPPED (6, 6, 0, 2) 257: 2 PWM_INIT_DONE 907: 9 GYRO_DETECTION (7, 0, 0, 0) 1398: 10 ACC_DETECTION (8, 0, 0, 0) 1499: 11 BARO_DETECTION (4, 0, 0, 0) 1499: 20 PITOT_DETECTION (0, 0, 0, 0) 1509: 12 MAG_DETECTION (2, 0, 0, 0) 1620: 4 SENSOR_INIT_DONE 2125: 5 GPS_INIT_DONE 2125: 7 TELEMETRY_INIT_DONE 3126: 8 SYSTEM_READY

tasks

Task list rate/hz max/us avg/us maxload avgload total/ms 0 - SYSTEM 9 5 1 0.5% 0.5% 3 1 - PID 499 253 125 13.1% 6.7% 19498 5 - RX 111 58 39 1.1% 0.9% 1386 6 - SERIAL 99 483 3 5.2% 0.5% 374 7 - BATTERY 49 40050 9 196.7% 0.5% 174 8 - TEMPERATURE 1 2 1 0.5% 0.5% 0 9 - BEEPER 99 14 3 0.6% 0.5% 110 10 - GPS 24 169 42 0.9% 0.6% 316 11 - COMPASS 9 231 220 0.7% 0.6% 678 12 - BARO 43 250 165 1.5% 1.2% 2197 15 - TELEMETRY 500 138 4 7.4% 0.7% 1200 18 - OSD 249 146 16 4.1% 0.8% 1416 19 - CMS 49 12 1 0.5% 0.5% 25 22 - VTXCTRL 4 6 2 0.5% 0.5% 1 Task check function 19 4 147 Total (excluding SERIAL) 228.1% 14.5%

Is this a new feature request? No

Blackbox logs/Config (.ZIP) where problem occurs

_Go to CLI, execute dump command copy its output to PasteBin and provide a link to a paste here.

Upload a zipped blackbox log (if available)

[stronnag]

This is expected, as designed behaviour. Please see https://github.com/iNavFlight/inav/wiki/%22Something%22-is-disabled----Reasons

[Seeelefant]

Well, not that easy, even without CLI it is not arming.

[shellixyz]

You can't takeoff in POSHOLD mode it is unsafe that's why you can't arm when it is enabled.

[DzikuVx]

This is by design. We had this discussion multiple times. You can not arm if any NAV mode (poshold, rth, etc) is enabled