NAV Waypoint mission resets after FC reconnects in failsafe mode

[HerraMakkara]

Current Behavior

failsafe_mission is set to OFF Mission keeps going when I switch RC link off, but I get ”move sticks to exit FS” and the mission resets and start fron the beginning when RC link is restored.

Steps to Reproduce

1 - RX link lost - failsafe in action, waypoint mission continues 2 - RX link restored - WP mission reset, asks to move sticks to exit failsafe mode 3 - WP mission starts from the beginning

Expected behavior Failsafe is set to continue mission, which it does and continue mission when FC reconnects from failsafe.

Suggested solution(s)

• FC Board name and vendor: Matek wing F765
• INAV version string: Inav/matekf765 2.6.0 Dec 4 2020 / 12:27:03 (cada68e4)
• Gcc-9.2.1 20191025

[HerraMakkara]

Waypoint mission progressed to WP 10/60 before Failsafe:

After reconnect plane begins WP mission from the beginning:

After I move sticks I get info that mission has reset.

[breadoven]

A log would be useful.

Have you checked what the Aux channels do during Failsafe, see if they cause modes to do unexpected things ?

[stronnag]

IIRC, it has always been the case that restarting a mission restarts from the begining, by design.

[avsaase]

IIRC, it has always been the case that restarting a mission restarts from the begining, by design.

But after a failsafe recovery when a mission is active, it should continue the mission instead of starting over. That makes more sense to me than what @HerraMakkara observed.

[stronnag]

From the report, I understood the OP moved to sticks to exit F/S which caused the mission to restart. Had the sticks not been touched, the mission should have completed.

https://www.rcgroups.com/forums/showpost.php?p=46747363&postcount=27589 tells a possibly more complete version of events.

Whether the extant design, which precedes "continue on F/S" is still valid when "continue on F/S" is enabled is another question.

[HerraMakkara]

From the report, I understood the OP moved to sticks to exit F/S which caused the mission to restart. Had the sticks not been touched, the mission should have completed.

https://www.rcgroups.com/forums/showpost.php?p=46747363&postcount=27589 tells a possibly more complete version of events.

Whether the extant design, which precedes "continue on F/S" is still valid when "continue on F/S" is enabled is another question.

It’s like moving throttle stick with WP mission on going, it doesn’t affect the mission.

Confirmed from the flight recrording: In my case the mission is resetted right away RC link is restored. Touching sticks is not the reason.

Should I be seeing this after RC reconnects?

[HerraMakkara]

A log would be useful.

Have you checked what the Aux channels do during Failsafe, see if they cause modes to do unexpected things ?

Flight log enclosed: https://www.dropbox.com/s/fl4loadrb5qhq2y/INAV.TXT?dl=0

[HerraMakkara]

This all happens when RC link is restored

[stronnag]

$ inav_states.rb INAV.TXT 
2.6.0 using states for 2.5.0
INAV.TXT: INAV 2.6.0 (cada68e4) MATEKF765
Iteration   Time(s) Elapsed(s)  State   FltMode
        0    117.0  (   0.0)    nav_state_undefined (0)  ARM|ANGLE|BLACKBOX 
    63328    180.5  (  63.6)    nav_state_waypoint_in_progress (17)  ARM|BLACKBOX|NAVWP 
    99872    217.2  ( 100.2)    nav_state_idle (1)   ARM|BLACKBOX   
   102112    219.4  ( 102.5)    nav_state_waypoint_in_progress (17)  ARM|BLACKBOX|NAVWP 
   145408    262.9  ( 145.9)    FAILSAFE=>RX_LOSS_IDLE (1495,1505,1499,1497);(0,1)
   188800    306.4  ( 189.5)    nav_state_idle (1)   ARM|BLACKBOX   
   188864    306.5  ( 189.5)    nav_state_waypoint_in_progress (17)  ARM|BLACKBOX|NAVWP|GCSNAV  
   209856    327.6  ( 210.6)    FAILSAFE=>IDLE (1495,1505,1455,1428);(1,1)
   246016    363.9  ( 246.9)    FAILSAFE=>RX_LOSS_IDLE (1495,1507,1499,1323);(0,1)
   261632    379.5  ( 262.6)    nav_state_idle (1)   ARM|BLACKBOX|GCSNAV    
   261664    379.6  ( 262.6)    nav_state_waypoint_in_progress (17)  ARM|BLACKBOX|NAVWP|GCSNAV  
   272416    390.3  ( 273.4)    FAILSAFE=>IDLE (1495,1505,1427,1376);(1,1)
   479776    598.4  ( 481.5)    nav_state_idle (1)   ARM|BLACKBOX   
   551776    670.7  ( 553.8)    end of log

Interesting assertion of GCSNAV when the link comes back.

[HerraMakkara]

That could be the channels then like https://github.com/breadoven mentioned, switching GCSNAV on and off and messing up the WP mission.

Here is another log turning RC off and then on. Same thing with GCSNAV:

[HerraMakkara]

Had another test two with GCSNAV completely removed from the modes. Waypoint mission resets still :(

There is this 1/30 sec gap in NAVWP when RC link is restored, which I believe is to blame.

[HerraMakkara]

Any idea what this could be about?

[breadoven]

I couldn't see anything obvious in the code that explains why it resets. If the option to continue the mission on failsafe is to be any use obviously it shouldn't reset the mission when you regain the signal.

The Nav system briefly went to idle when the Rx signal was regained in the log above. So either a bug or still related to the Aux channels doing strange things briefly when the signal is first regained.

[HerraMakkara]

I’ll reset all the settings and test again tomorrow with clean setup.

[HerraMakkara]

Ok, there is the channel issue after all. Here is a video on channels when returning (reconnecting) from failsafe. https://youtu.be/Ri4qDIkTvbk

Channel 9 has been the NAV WP switch.

[HerraMakkara]

It works after moving NAV WP to another channel. TX16S and crossfire - something odd happens with those channels..