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We had a crash when doing autonomous missions while in HOLD mode.
What happened was that the RC seemed to had a slight glitch, where the value of the mode switch changed.
This made the mode switch to briefly be at the unassigned mode value, which raised the switch_changes in the manual_control_switch message. As you can see in the image below, mode_slot 3, 4, 5 was assigned as Manual, Altitude, Position but the position switch breifly goes to mode_slot 2
This triggered a mode switch from HOLD mode to Manual, where the throttle stick was at zero, resulting in a crash.
The main issue is that mode_slot 2, which triggered the mode change, is a position not achievable with the three position switch on my Taranis 9X. Moreover, it was an unassigned mode_slot which triggered the change.
To Reproduce
Configure the RC mode switch to an unassigned mode slot
Put the vehicle in hold mode
Transition to an unassigned mode
Expected behavior
If the mode_slot is unassigned, the vehicle should stay in HOLD mode.
Jaeyoung-Lim
changed the title
[Bug] Mode switch from hold mode with an unassigned mode
[Bug] Mode switch from hold mode to an unassigned mode triggers mode change
Apr 18, 2024
Describe the bug
We had a crash when doing autonomous missions while in HOLD mode.
What happened was that the RC seemed to had a slight glitch, where the value of the mode switch changed.
This made the mode switch to briefly be at the unassigned mode value, which raised the
switch_changes
in themanual_control_switch
message. As you can see in the image below, mode_slot 3, 4, 5 was assigned as Manual, Altitude, Position but the position switch breifly goes to mode_slot 2This triggered a mode switch from
HOLD
mode toManual
, where the throttle stick was at zero, resulting in a crash.The main issue is that mode_slot 2, which triggered the mode change, is a position not achievable with the three position switch on my Taranis 9X. Moreover, it was an unassigned mode_slot which triggered the change.
To Reproduce
Expected behavior
If the mode_slot is unassigned, the vehicle should stay in HOLD mode.
Screenshot / Media
Flight Log
https://review.px4.io/plot_app?log=8867de8d-b255-4d66-ab0a-b7e8029c4876
Software Version
9887058 (with added DDS topics: ethz-asl@bb7c6f4)
Flight controller
Pixhawk 4
Vehicle type
Multicopter
How are the different components wired up (including port information)
No response
Additional context
No response
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