VTOL: trigger RC override only if sticks are moved in hover flight. #13062
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…e on the RC sticks during FW flight (where RC override is disabled) doens't cause a RC override during backtransition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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This is getting really convoluted. I don't have any immediate ideas to simplify it, but maybe we should carry a fairly detailed comment so that |
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I suppose RC override could ignore the throttle channel. |
Also thought about that, I agree. Should we still bring in the changes proposed here as well? |
Whichever you prefer. So then the question is does it make sense to drop throttle from RC override consideration entirely or only in this case. |
I would vote for getting this PR in, and see if we still need to disable throttle for some cases. |
I assume that would not be intuitive in certain situations since e.g. in multicopter Land or RTL on the final approach people might pull up again if it's landing too fast or in the wrong location. |
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I don't think that's a viable fix since this function (or let's say everything after the first if statement) is clearly designed to be ran on an event-driven basis and the is_fixed_wing flag of this pr is constantly true in fixed-wing flight. As a result the function would run through completely on every loop iteration during fixed wing flight and the mode switches would constantly get reevaluated. That means the mode is directly bound to the mode switch on the RC as soon as one is present and e.g. it would not be possible anymore to fly an RTL triggered by tablet when an RC with mode switch is connected.
Please tell me if I got it wrong, I didn't do any tests.
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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This got fixed in #15495 |
This PR is an option to fix #13061