Copter: add indoor mode to disable GPS (and maybe compass).

[R-Lefebvre]

Often time, people would like to fly indoors, possibly for testing, or during the winter. This can cause problems due to GPS reception. Users may forget to turn off Fence, or accidentally try going into Auto, etc. And, even if they do remember and only use Acro or Stabilize mode, the AHRS can be confused by large possible GPS glitches (due to AHRS_GPS_USE).

Also, flying in some structures may cause problems with the compass.

The only bulletproof cure at this point is to disconnect the GPS physically. It would be nice to provide a Master GPS Switch parameter which could easily have the same effect.

[tridge]

Hi Robert, you can set GPS_TYPE to 0 to disable the GPS. It does need to be better documented though.

[tridge]

also, you can disable the use of the compass with COMPASS_USE=0

[Henri-H]

Hi Guys,
This is my first post in here and guidance is welcome if needed.
It would be nice if these parameters could be set for switch. This is for situations where copter is out of control but you don't want/need to eject parachute yet.

I'm instructing to set parachute eject behind two switches and both needs to be active for eject. Only one switch just warns pilot becoming possible eject. One switch would also disable GPS and magnetometer and force return stabilize or special emergency mode.

It would be one switch last change attempt to take it control.

I said this because I experienced destructive heavy camera copter crash and this function might have saved or at least allowed me to crash before power lines. It happened because of compass malfunction and its resulting high speed collision to power lines. Lot of explained and unexplained problems occured but it is out of topic.

[rmackay9]

Note this other issue includes the request to be able to switch from indoor mode -> outdoor mode inflight: #1487

[Henri-H]

Update to my earlier comment on Jun 25 and referring this #1487 :
Afterwards after another crash I got telemetry logs which told I experienced false Fence Breach just above take off site due "bad GPS POS". This time copter engaged LAND (first time it was RTL) as set and copter leaned strongly to side and I hit eject (2m from ground). Most likely first crash was the same reason, False Fence Breach. These both crashes occurred from Stabilize.
Third time another copter boosted from LOITER when suddenly all satellites were gone in a second in flight. Switching to Stabilize helped there.

What ever the implementation will be, please allow pilot to gain full manual control in all flight situations with one switch. Indoor mode could be such thing which never allows autopilot to take control.

[rmackay9]

The pilot can always retake control by changing flight modes. AC3.2 includes a 10sec delay so the autopilot won't try and re-take control even if the fence is breached again for an additional 10 seconds.

[Henri-H]

This 10 s delay is good enhancement and gives more room for pilot to make a decision.

A common problem I see in here is that when copter is allowed to fly without telemetry, some people will do it. And then any warnings do not reach pilot which might cause surprise.
This was just a wish to have one flight mode which doesn't have any programmed functionality to take control from pilot in any case.
Just last weekend one guy wanted to have a photo from my copter during landing and despite of warnings went very close. I underlined all risks very clearly to him before flight mission for taking photo of his house. Copter was luckily fully in manual control as it is when everything works.
These are real situations on the field where we operate with people not realizing the risks.

[R-Lefebvre]

Randy, can this be closed? I'm not sure if it's done, but I'm sure there are newer issues written?

[OXINARF]

Is this something we still want to do? I think current modes work well enough inside that we don't need a specific mode for it.

[Naterater]

I don't think this is something that's worth it. Stabilize mode can do it almost on its own, and parameter changes can assist when indoor flights are planned. In addition, nobody has answered @OXINARF that this is something that is wanted.

[rmackay9]

Copter-3.7.0-dev includes a "GPS Disable" auxiliary switch which probably resolves this issue although it was intended for testing the EKF failsafe I think

[peterbarker]

On Thu, 17 Jan 2019, Nathan E wrote: Closed #1152.

You can put disable-gps on a switch now.