Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Already in air error #9

Open
maciejgaleja opened this issue Dec 3, 2017 · 1 comment
Open

Already in air error #9

maciejgaleja opened this issue Dec 3, 2017 · 1 comment
Labels
discussion required

Comments

@maciejgaleja
Copy link

Sometimes, Ardupilot reports that MAV is in air, even though it is on ground. In this state, most of commands is rejected.

  • What is the reason of this behaviour?
  • Perhaps it only occurs in simulator
  • Can our code do anything about it?
@wojctrz
Copy link
Collaborator

wojctrz commented Dec 14, 2017

I made a little bit of research, using SITL simulator, and this is what i found so far:

  • The problem occurs only in VTOL (QuadPlane) mode, when arming and trying to takeoff in mode other than GUIDED
  • In a conventional quadcopter, some modes (like land) are unarmable - arm command is rejected by MAV. In VTOL frame, modes like QLAND are armable (system don't throw any errors), but trying to takeoff after such an arming ends in failure - the command is rejected with "Already flying - no takeoff" message
  • The issue is probably caused by some bug in SITL, but some verification test with real model in the future would be appreciated

Currently, the simplest solution to this issue is just checking the mode before the arming (and changing it, if it is needed)

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
discussion required
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@maciejgaleja @wojctrz