FW Auto Land inadvertent disarm during FS RTH

Open breadoven opened this issue 1 year ago • 0 comments

FW Auto landing disarms inadvertently before landing when FS RTH is active because the following drops out to RTH_idle causing an instant FAILSAFE landing and disarm to occur in the Failsafe module:

https://github.com/iNavFlight/inav/blob/622b6010f79a2136a55f391aff4216fb9978d833/src/main/navigation/navigation.c#L4893 https://github.com/iNavFlight/inav/blob/622b6010f79a2136a55f391aff4216fb9978d833/src/main/flight/failsafe.c#L537

Caused by the flight mode changing from RTH to WP mode when switching to NAV_STATE_FW_LANDING_APPROACH: https://github.com/iNavFlight/inav/blob/622b6010f79a2136a55f391aff4216fb9978d833/src/main/navigation/navigation.c#L1096

In fact it's not good the way the FW Auto Landing phases change flight modes (mapToFlightModes) during the different Auto landing phases without actually switching to that flight mode. The flight mode flags affect various things in unpredictable ways if you're not actually in that mode.

INAV version string: 7.1 RC1

Mar 02 '24 22:03 breadoven