Bug iNav 2.0.0 RC6 Failsafe disarm instead of RTH

[konraddi]

As mentioned here: #3482

My plane disarmed because of multiple failsafes some 10km away. In previous iNav versions it never happened! Failsafe procedure is set to RTH, and the Crossfire Micro RX v2 is set to "Cut" on failsafe, no failsafe positions. Someting seems to work wrong with the latest changes...

Dump AR Wing v6 iNav 2.0.0 RC6.txt

Diff AR Wing v6 iNav 2.0.0 RC6.txt

LOGS AR Wing.zip

Thanks,
Konrad

[stronnag]

From an accelerated BB replay ...

2018-08-17T20:52:45+0100 Set home 48.062918 11.853131 (LTM OFrame true)
2018-08-17T20:52:49+0100 New LTM Mode Cruise (18) 1 44s 48.063717 11.848551 0 20
2018-08-17T20:52:58+0100 New LTM Mode Return Home (13) 1 144s 48.060127 11.838222 0 4
2018-08-17T20:52:59+0100 New LTM Mode Cruise (18) 1 154s 48.060679 11.839292 0 20
2018-08-17T20:54:39+0100 Failsafe asserted
2018-08-17T20:54:39+0100 New LTM Mode Return Home (13) 1 1141s 48.087950 11.721537 0 4
2018-08-17T20:54:39+0100 Failsafe cleared
2018-08-17T20:54:39+0100 New LTM Mode Cruise (18) 1 1144s 48.088251 11.721416 0 20
2018-08-17T20:54:41+0100 Failsafe asserted
2018-08-17T20:54:41+0100 New LTM Mode Return Home (13) 1 1167s 48.087200 11.723428 0 4
2018-08-17T20:54:41+0100 Failsafe cleared
2018-08-17T20:54:41+0100 New LTM Mode Cruise (18) 1 1168s 48.087088 11.723387 0 20
2018-08-17T20:54:41+0100 Failsafe asserted
2018-08-17T20:54:41+0100 New LTM Mode Return Home (13) 1 1172s 48.086533 11.723602 0 4
2018-08-17T20:54:43+0100 Failsafe cleared
2018-08-17T20:54:43+0100 Failsafe asserted
2018-08-17T20:54:43+0100 Failsafe cleared
2018-08-17T20:54:43+0100 New LTM Mode Cruise (18) 1 1193s 48.085383 11.728754 0 20
2018-08-17T20:54:43+0100 Failsafe asserted
2018-08-17T20:54:45+0100 Failsafe cleared
2018-08-17T20:54:45+0100 Failsafe asserted
2018-08-17T20:54:46+0100 Failsafe cleared
2018-08-17T20:54:47+0100 Failsafe asserted
2018-08-17T20:54:48+0100 New LTM Mode Return Home (13) 1 1241s 48.082961 11.739466 0 4
2018-08-17T20:54:49+0100 Assumed disarm from LTM
2018-08-17T20:54:49+0100 Distance = 12946.1, max speed = 22.0 time = 1256
2018-08-17T20:54:50+0100 BB Disarm Failsafe (6)

Purple track : Cruise
Yellow Track: RTH

Long walk of shame ....

[konraddi]

haha :D Not quite right @stronnag, look at the other blackbox files, luckily I was able to rearm after some very long time and with a lot of height loss and fly it back.

Rearming was probably not possible because the launch mode also interfered? Launch mode is activated on a aux channel at around 1400-1600us and it seems that this channel froze at 1500us for a long time? Arming seems impossible as long as the launch mode is activated inflight!!

[konraddi]

There is some option to keep the height from the start point (inav_reset_altitude | FIRST_ARM)

The same would be very helpful to keep the first Home position and not to set it to the current position after a (failsafe) disarm but keep the first GPS position where the plane was launched...

[stronnag]

I saw the others logs after I posted the image. Still the interesting bit is the disarm reason (6) - failsafe.

[konraddi]

yep it should not disarm when in Crossfire RX failsafe (CRSF v2 with "cut") but do the RTH as usual in iNav 1.8.0. btw it was a crossfire interference test with this plane, wanted to know if some noisy components limit the range, the TX was set to 10mw max...

[digitalentity]

LOG00001.TXT - disarmed by failsafe (RTH failed to activate
LOG00002.TXT - disarmed by switch
LOG00003.TXT - disarmed by switch
LOG00004.TXT - disarmed by switch

Found a bug in CRUISE mode implementation. If failsafe is triggered while pilot (or frozen receiver channels) are "adjusting" direction - RTH will fail to activate and plane will fallback to LANDING procedure. Another bug is that even although failsafe LANDING should spiral the plane down - CRUISE controller seems to be active and steering the plane.

[digitalentity]

Working on a fix

[stronnag]

@konraddi

# get reset
inav_reset_altitude = FIRST_ARM
Allowed values: NEVER, FIRST_ARM, EACH_ARM

inav_reset_home = EACH_ARM
Allowed values: NEVER, FIRST_ARM, EACH_ARM

[konraddi]

@digitalentity Thanks! Other than that, the Cruise mode in combination with ALTHOLD works superb even on a bank and yank flying wing!

@stronnag Thanks too! "inav_reset_home" is not listed (yet) in the CLI doc? (https://github.com/iNavFlight/inav/blob/master/docs/Cli.md)

[digitalentity]

@stronnag interesting finding, but unrelated to this particular issue. There is a bug in the code that prevents plane from going into RTH if a certain set of conditions are met:

• Cruise mode activated
• RPY sticks are not centered
• Receiver goes into failsafe

[digitalentity]

Fix ready for review 😄