Rover: Fix bug in failsafe initiation while in HOLD mode #12301
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limited fix to only boats....still need to discuss issue in ground rovers since current code does not prevent RTLs if FS occuring in other modes....for ground rovers, you can walk to retrieve...for boats you usually cannot so FS should work at all times... |
Hwurzburg
changed the title
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Discussion in #12295 (comment) Could you fix the commit message ? It should be "Rover: Fix bug in failsafe initiation while in HOLD mode". Thanks |
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yeah already did that...thanks...
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another option would be to allow FS in HOLD in ground rovers also as I originally PR'd, since the FS_ACTION is already HOLD by default and let the use decide on how FS affects the vehicle... |
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Yep we could add a parameter for that. That what we got on copter, we get a parameter to allow or not rtl failsafe if we are already in LAND |
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fixes a bug that prevents failsafes from being executed anytime Rover is in HOLD mode....particularly troublesome when HOLD comes at end of mission (its the default mission end) and FS happens in the middle of a lake! ask me how I know!
Pierre says this bug is intended behavior...I disagree, but perhaps this should be limited to boat frames and not ground vehicles...discuss in DEVCALL
tested on vehicle....easily tested on bench