Sub: auto & circle mode keep controllers initialized when disarmed #18719
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hendjoshsr71
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Probably allows the new test created with #17846 (from June) to pass. Haven't tested or read this PR, however :-) |
I grabbed the DoubleCircle test and it passes with this PR. |
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An internal error also occurs in guided but only with speedup above 3 see this issue #18744 I've changed guided's pos_control_run() method for keeping the controller's initialized when disarmed. It does not appear to be keeping wp-nav initialized as well currently. |
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merged, thanks! |
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This fixes an issue reported on discuss here.
Auto_mode starts in
auto_loiter. However, while disarmed it does not keepwp_navandpos_controlinitialized for the next time when the vehicle is armed and pos_control_run() occurs. Thus whenpos_control_run()happens we get the internal error in SITL below because we have not initialized the controllers recently.Same happens in CircleMode.
To replicate the issue:
-upload a mission with a few WPs
mode auto(or 'mode circle)arm throttle`You should get this internal error (just a difference between modes)