Follow up improvements for the manual control cleanup #18693
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They were resulting in a message "Switching to Unkown is currently not available".
… enabled It's unsafe to arm with the gesture when yaw airmode is enabled because e.g. in Stabilized mode that results in a high yawrate setpoint that the drone tries to follow even with zero thrust because of the airmode. It was handled before by checking the arm switch parameter because that used to disable the stick arm gesture. See 24dc316
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julianoes
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Nov 23, 2021
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It makes sense but I find it a bit unintuitive that you still need to disable stick arming when mapping a switch. Also for people updating with a switch mapped and now suddenly they have the gesture enabled as well. |
@bkueng You're right. I found this was added here #9622 So as discussed the yaw airmode requires the gesture to be disabled but the easiest is to force disable it when an arm switch is mapped because that's a 1:1 replacement and there was no reported use case that needed both. I'm adding in another pr 👍 EDIT: #18705 |
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Describe problem solved by this pull request
During further testing of the recent changes in #17404 I found two issues:
This was previously implicitly (!) possible by either setting
COM_RC_IN_MODEto joystick or mapping an arm switch.Describe your solution
commander_state.main_staterequested to be-1. This is the default value representing unassigned slots but when casted to the main_state typeuint8_tbeing 255 and hence resulting in the expected error.MAN_ARM_GESTUREto disable it because I've seen it more than once as a product or hobby vehicle setup requirement independent of joystick or arming switch use.Test data / coverage
I bench tested everything to work as expected.