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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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Arming without GPS not possible #9485

Closed maxledfreak closed 11 months ago

maxledfreak commented 11 months ago

Current Behavior

It is not possible to arm the drone. GPS is mounted and for PID tuning I would like to use system without GPS fix to speed up process. Therefore I disabled all relevant GPS settings including falesave to land and remove GPS from port settings.

image

Steps to Reproduce

startup drone and connect batterie + arm system

Expected behavior

it is possible to arm system and fly without navigation functions.

Suggested solution(s)

can not find any solution to solve this behaviour.

DIFF

version

INAV/SPEEDYBEEF7V3 7.0.0 Nov 8 2023 / 15:41:13 (a54849be) GCC-10.3.1 20210824 (release)

start the command batch

batch start

resources

Timer overrides

timer_output_mode 1 MOTORS timer_output_mode 2 MOTORS timer_output_mode 3 MOTORS

Outputs [servo]

safehome

features

feature PWM_OUTPUT_ENABLE

beeper

blackbox

blackbox NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox GYRO_RAW blackbox PEAKS_R blackbox PEAKS_P blackbox PEAKS_Y

Receiver: Channel map

Ports

serial 0 4096 115200 115200 0 115200 serial 3 1 115200 115200 0 115200

LEDs

LED color

LED mode_color

Modes [aux]

aux 0 0 3 1900 2100 aux 1 11 1 1300 1700 aux 2 10 2 1900 2100 aux 3 28 1 1900 2100 aux 4 3 1 1300 1700 aux 5 13 6 1750 2100

Adjustments [adjrange]

Receiver rxrange

temp_sensor

Mission Control Waypoints [wp]

wp 0 invalid

OSD [osd_layout]

osd_layout 0 0 22 0 V osd_layout 0 1 12 0 H osd_layout 0 2 0 0 V osd_layout 0 3 8 6 V osd_layout 0 4 8 6 V osd_layout 0 9 1 2 H osd_layout 0 10 22 15 V osd_layout 0 11 12 1 V osd_layout 0 12 17 0 V osd_layout 0 13 6 1 V osd_layout 0 14 25 0 V osd_layout 0 15 1 1 V osd_layout 0 22 14 11 V osd_layout 0 23 1 0 V osd_layout 0 28 23 11 H osd_layout 0 32 12 0 V osd_layout 0 35 17 1 V osd_layout 0 39 23 1 H osd_layout 0 40 7 0 V osd_layout 0 105 22 14 V osd_layout 0 120 13 14 H osd_layout 0 129 1 15 V osd_layout 0 139 1 14 V

Programming: logic

logic 1 0 0 0 0 0 0 0 0

Programming: global variables

Programming: PID controllers

master

set looptime = 500 set gyro_main_lpf_hz = 100 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 60 set dynamic_gyro_notch_mode = 3D set setpoint_kalman_q = 200 set gyro_zero_x = 2 set gyro_zero_y = 6 set ins_gravity_cmss = 993.275 set acc_hardware = BMI270 set acczero_x = 23 set acczero_y = -87 set acczero_z = 13 set accgain_x = 4080 set accgain_y = 4085 set accgain_z = 4075 set align_mag = CW90FLIP set mag_hardware = QMC5883 set magzero_x = -598 set magzero_y = -515 set magzero_z = -944 set maggain_x = 1412 set maggain_y = 1398 set maggain_z = 1458 set align_mag_roll = 100 set align_mag_pitch = 1800 set align_mag_yaw = 900 set baro_hardware = BMP280 set pitot_hardware = NONE set serialrx_provider = FPORT set serialrx_halfduplex = ON set blackbox_rate_denom = 2 set motor_pwm_protocol = DSHOT600 set failsafe_off_delay = 0 set failsafe_min_distance_procedure = LAND set align_board_roll = 10 set current_meter_scale = 386 set applied_defaults = 5 set gps_provider = UBLOX7 set gps_sbas_mode = AUTO set airmode_type = THROTTLE_THRESHOLD set nav_wp_max_safe_distance = 500 set nav_land_minalt_vspd = 75 set nav_emerg_landing_speed = 400 set nav_rth_alt_mode = MAX set safehome_max_distance = 60000 set safehome_usage_mode = OFF set vtx_band = 2 set vtx_channel = 5 set vtx_power = 4 set vtx_low_power_disarm = ON

mixer_profile

mixer_profile 1

set motor_direction_inverted = ON set model_preview_type = 3

Mixer: motor mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000

Mixer: servo mixer

profile

profile 1

set mc_p_pitch = 22 set mc_i_pitch = 1 set mc_d_pitch = 0 set mc_cd_pitch = 0 set mc_p_roll = 22 set mc_i_roll = 1 set mc_d_roll = 0 set mc_cd_roll = 0 set mc_p_yaw = 180 set mc_i_yaw = 23 set mc_d_yaw = 30 set mc_cd_yaw = 0 set max_angle_inclination_rll = 350 set max_angle_inclination_pit = 350 set dterm_lpf_hz = 90 set dterm_lpf_type = PT3 set heading_hold_rate_limit = 75 set mc_iterm_relax = RPY set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 8.000 set antigravity_accelerator = 18.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 30 set rc_yaw_expo = 28 set roll_rate = 25 set pitch_rate = 25 set yaw_rate = 23

battery_profile

battery_profile 1

set vbat_min_cell_voltage = 300 set vbat_warning_cell_voltage = 320 set battery_capacity = 4500 set throttle_scale = 0.850 set throttle_idle = 7.000 set failsafe_throttle = 1100

save configuration

save

end the command batch

batch end

stronnag commented 11 months ago

You have NAV modes enabled ...

$ parse-aux.rb --force-mode=permids
# Modes [aux]
aux 0 0 3 1900 2100
aux 1 11 1 1300 1700
aux 2 10 2 1900 2100
aux 3 28 1 1900 2100
aux 4 3 1 1300 1700
aux 5 13 6 1750 2100

NAV POSHOLD          CHAN 6 1300 1700   (aux 1 11 1 1300 1700)
NAV ALTHOLD          CHAN 6 1300 1700   (aux 4 3 1 1300 1700)
NAV WP               CHAN 6 1900 2100   (aux 3 28 1 1900 2100)
NAV RTH              CHAN 7 1900 2100   (aux 2 10 2 1900 2100)
ARM                  CHAN 8 1900 2100   (aux 0 0 3 1900 2100)
BEEPER               CHAN11 1750 2100   (aux 5 13 6 1750 2100)
maxledfreak commented 11 months ago

Hello Team and @stronnag, I will try to explain my thoughts in other words, because I'm not sure if my initial post showed this.

Yes, I know that my modes are configured with GPS functionality. To deactivate the hole GPS functionality, I do follow steps:

  1. Remove GPS from ports selection --> No GPS physically available. In my case GPS is connected to UART6 image

  2. Switch off feature of "GPS for navigation and telemetry" image

Observed behaviour

Because of switching off the feature "GPS for navigation and telemetry" in tab "modes" all GPS/navigation related modes are hid and not disabled.

Expected behaviour

Hole GPS and navigation functionality is disabled and flying/arming should be possible

Details: I'm aware about 2 tabs where settings regarding GPS/navigation could be set to active. This is in "mode" tab and in "failsafe" tab. As described in "observed behaviour", only "mode" is hiding. If you switch to "failsafe". It is possible to set "RTH" as option and this option is not hidden.

Expectation: If switch for feature "GPS for navigation and telemetry" only should hid all related features. It should be done in failsafe tab to. But: I do not see the use case of this switch, if it is still needed to deactivate all GPS/navigation related features manually. I cannot imagine that the only functionality for user of iNav is to hide GPS/navigation related mode and they are still active in the background.