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mavlink / qgroundcontrol

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)
http://qgroundcontrol.io
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Disable resume mission on VTOL #9505

Open sanderux opened 3 years ago

sanderux commented 3 years ago

Resuming a mission is a good feature for MC/FW but on VTOL it presents problems. Usually (but not always) the first waypoint of a VTOL mission is a VTOL takeoff where is climbs to a lowish altitude and transitions to fixed wing. After that it can go to very high altitudes as fixed wing and fly for a long time.

When commanding an RTL it seems that "leave plan on vehicle" assumes a resume mission is desired. That can cause the vehicle to skip the VTOL TAKEOFF procedure and climb to a very high altitude as MC and try to resume the mission as MC.

I propose the resume mission feature becomes optional and should be disabled by default on VTOL. Alternatively it should have a much clearer interface on how it will resume the mission and allow for the VTOL TAKEOFF point to be performed before skipping to the last waypoint selected. Also (i am not sure if this is already considered), any camera trigger starts should be engaged if resuming a mapping mission.

DonLakeFlyer commented 3 years ago

Alternatively it should have a much clearer interface on how it will resume the mission and allow for the VTOL TAKEOFF point to be performed before skipping to the last waypoint selected.

Right that is the bug. Only MAV_CMD_NAV_TAKEOFF is handled correctly but MAV_CMD_NAV_VTOL_TAKEOFF is not.