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Is your feature request related to a problem? Please describe.
It's not clear when writing ROS code and sending high level goal commands which are persistent, and which time out.
Velocity or acceleration commands that have no timeout, especially if they ignore the fence, have a risk of flyaway.
Let's ensure ArduPilot's implementation and documentation is clear to prevent that.
Describe the solution you'd like
Create a few scenarios for guided control on plane, rover, copter to determine whether commands need to be sent without timeout
Cover position and velocity control
Verify that geofence protects the vehicle from a flyaway in guided mode
Create a PR to the ROS 2 wiki to explain the control modes and which have timeouts
Ensure that a companion computer becoming disconnected or failing will not cause the vehicle to have an unrecoverable flyaway
Feature request
Is your feature request related to a problem? Please describe.
It's not clear when writing ROS code and sending high level goal commands which are persistent, and which time out.
Velocity or acceleration commands that have no timeout, especially if they ignore the fence, have a risk of flyaway.
Let's ensure ArduPilot's implementation and documentation is clear to prevent that.
Describe the solution you'd like
Describe alternatives you've considered
Platform
[ ] All
[ ] AntennaTracker
[x] Copter
[x] Plane
[x] Rover
[ ] Submarine
Additional context
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