Hello, I am using Arducopter for an indoor autonomous drone project, using visual odometry and range sensors. I am using mavros, sending attitude commands over the rc/override channel. It works well, however I am not able to disarm the drone after I send the rc override commands, is this the intended behavior and if yes is there a workaround?
For future reference I found a workaround for this. A force disarm command can be sent as a call to the /mavros/cmd/command service:
rosservice call /mavros/cmd/command "{broadcast: false, command: 400, confirmation: 0, param1: 0.0, param2: 21196.0, param3: 0.0,`` param4: 0.0, param5: 0.0, param6: 0.0, param7: 0.0}"
This command sends a “magic value” (21196.0) as the disarm command value that disarms the drone even if there are failsafes preventing this.
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