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MAVROS sends DO_SET_MODE with armed flag not based on current arming state #423

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LorenzMeier opened this issue Nov 7, 2015 · 7 comments

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@LorenzMeier
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As described here this can lead to disarming the system in-air:
PX4/PX4-Autopilot#3142 (comment)

@vooon
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vooon commented Nov 7, 2015

But i thikned that with custom mode flag system only accept that value and not parse base_mode.

Also strange that this issue not being at begining of work on offboard.

@vooon
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vooon commented Nov 7, 2015

Also obvious listen to SYSTEM_STATUS and save arm flag give race that may happen between COMMAND_LONG-ARMING and receiving next SYSTEM_STATUS (<=1 sec window).

@vooon
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vooon commented Nov 7, 2015

So i thinking that better react only to arming command and not base_mode...

@vooon
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vooon commented Nov 8, 2015

Fixed, but testing required.

@vooon
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vooon commented Nov 9, 2015

Checked with SITL.

@vooon vooon closed this as completed Nov 9, 2015
@mhkabir
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mhkabir commented Nov 9, 2015

What about the race conditions? This could cause weird issues or corner cases in the future.

@LorenzMeier
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The protocol is getting support to address transaction support. In the meantime you could just disallow mode switches if not armed.

nmichael pushed a commit to rislab/mavros that referenced this issue Mar 19, 2016
VTOL transition command and VTOL state message
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