Failsafe issue when extra arming safety off

macgyverek commented 1 year ago

Current Behavior

I found a problem with Failsafe when nav_extra_arming_safety == OFF and RTH is enabled. Without GPS fix drone making fly away. It not safe flyting at home, buildings etc.. Its a dangerous !!! The same issue was on BF and was fixed.

Steps to Reproduce

nav_extra_arming_safety == OFF
Enable RTH Failsafe
ARM quad
Power Off Radio
Failsafe making fly away
Power On Radio
Disarm quad
Motors still working - only power cut can stop the motors.

Expected behavior

Cut off motors immediately

Suggested solution(s)

If nav_extra_arming_safety == OFF and arm quad without gps fix/home point inav should drop or land when RX lost.

FC Board name and vendor: Mamba F7
INAV version string: 5.1

MrD-RC commented 1 year ago

OFF has been removed from nav_extra_arming_safety in 6.0 for exactly this reason. Switching that off and arming without a GPS lock is at your own risk.

macgyverek commented 1 year ago

So flying without GPS fix will be not possible ?? What about flying in hall, buildings ?? Do you have a new solution for cinematic drones or the inav is opening only for flying wings / plain etc. ??

MrD-RC commented 1 year ago

@macgyverek For flying indoors you can use allow_bypass instead of off. Yaw right when you arm then it will be as if you have turned nav_extra_arming_safety off, until you power cycle the battery.

I don't see how this would effect a cinematic drone at all?

macgyverek commented 1 year ago

I will check what will be when I use allow_bypass and rxlost (failsafe).

About cinematic drone: sometimes I uses drone making a shoots flying outdoor and indoor. So better is flying without GPS/Home Point. After lost link drone should land or disarm motors/drop. In my opinion inav should automatically disable RTH when armed and no fix. Home point should not be set. User should make a simple decision when start/arm: start without GPS or wait for GPS fix and flight. Check DJI drones: they have that options and working good.

macgyverek commented 1 year ago

I tested allow_bypas. The same issue: drone making fly away without GPS signals after rxlost. Hmmm: where is flying ?? To China or to Africa ??

breadoven commented 1 year ago

I tested allow_bypas. The same issue: drone making fly away without GPS signals after rxlost. Hmmm: where is flying ?? To China or to Africa ??

The Drone isn't flying anywhere it's merely drifting out of control. RTH won't initialise without a valid GPS fix so it's not active during Failsafe. In this case Failsafe RTH should default to Failsafe Landing automatically. Does it not appear to do this ?

breadoven commented 1 year ago

Just tested this and it worked as expected. With RTH Failsafe set with no GPS fix it defaulted to an Emergency Landing, Landed and disarmed. This was for a fixed wing but it should work the same from a multirotor.

If you don't have a Baro available then the landing will just use failsafe_throttleto control the descent rate. Has this been set to a different value from the default of 1000 (effectively Drop on a MR) ? With a Baro it should descend at the rate set by nav_emerg_landing_speed.

macgyverek commented 1 year ago

Yes I have a baro.

I tested like this:

Drone armed without gps fix (motors working at 10%)
Drone are on the ground (not fly)
Power off radio
Motors are spinning up after failsafe (I hold it by hand on the ground), sometimes are only 2 motors are spinning (in normal flight will be flip). I feel on hand that is no a landing mode. Throttle had very high values.

The same behaviour is with and without propellers. I dont tested this on real flight at home, because can be fly away.

failsafe_delay = 5 failsafe_recovery_delay = 5 failsafe_off_delay = 200 failsafe_throttle_low_delay = 0 failsafe_procedure = RTH failsafe_stick_threshold = 50 failsafe_fw_roll_angle = -200 failsafe_fw_pitch_angle = 100 failsafe_fw_yaw_rate = -45 failsafe_min_distance = 0 failsafe_min_distance_procedure = DROP failsafe_mission = ON failsafe_throttle = 1000

stronnag commented 1 year ago

When you have a real test case and issue, with a blackbox log as evidence, this may be reopened. Hypothetical / on the ground / not flying / no props experiments just waste developers' time.

macgyverek commented 1 year ago

You too waste may time. Happy Flying...I returned to BF. Bye ;) Sorry for this task.

lida2003 commented 1 year ago

Yes I have a baro.

I tested like this:

* Drone armed without gps fix (motors working at 10%)

* Drone are on the ground (not fly)

* Power off radio

* Motors are spinning up after failsafe (I hold it by hand on the ground), sometimes are only 2 motors are spinning (in normal flight will be flip). I feel on hand that is no a landing mode. Throttle had very high values.

sometimes are only 2 motors are spinning (in normal flight will be flip). Ah,,, interesting test. GPS lost + RC link fail triggered motor spin issue (sometimes 2 motors), it's kind of Emergency landing tumbled crash? -- inav 6.1.1 #9184 , what I have met flipped crash.

iNavFlight / inav