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MAVROS sends DO_SET_MODE with armed flag not based on current arming state #423
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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. |
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). |
So i thinking that better react only to arming command and not base_mode... |
Fixed, but testing required. |
Checked with SITL. |
What about the race conditions? This could cause weird issues or corner cases in the future. |
The protocol is getting support to address transaction support. In the meantime you could just disallow mode switches if not armed. |
VTOL transition command and VTOL state message
As described here this can lead to disarming the system in-air:
PX4/PX4-Autopilot#3142 (comment)
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