Rover: INITIAL_MODE broken?

[rmackay9]

During a quick SITL test while investigating this user report I found that Rover's INITIAL_MODE doesn't seem to work.

I set the parameter to 1 for Acro or 15 for Guided and it simply didn't end up in these modes when the simulator was restarted. I haven't investigated this thoroughly.

[shiv-tyagi]

@rmackay9
I was able to reproduce this. I would love working on this issue. Will push a patch if able to get to the bottom of this problem.

[khancyr]

it would be great to improve the autotest on this as it should definitively work. Most probable that the mode change is refuse because of missing position or velocity estimate

[shiv-tyagi]

@rmackay9 I investigated this issue. I found out that the rc switch which we have for setting flight mode is the problem. Initially the rover successfully set itself to the mode specified by INITIAL_MODE but as soon as it starts getting rc pulses, it reads the mode switch and goes in the mode which rc is pointing to.

[rmackay9]

@shiv-tyagi,

Great, thanks very much for this. I think I'll close this issue then.