Channel option TAKEOFF

AndreyI · November 3, 2019, 5:25pm

Hi!
I set the parameter RC11_OPTION = 77, after that, when activating this channel, I receive an error message “Invalid channel option (77)”.
If you activate TAKEOFF in flight modes, the mode is activated normally.

iampete · November 3, 2019, 7:03pm

the TakeOff mode RC option is not in 4.0, only latest

AndreyI · November 3, 2019, 8:12pm

The documentation says that 4.0 and above…
http://ardupilot.org/plane/docs/takeoff-mode.html#takeoff-flight-mode

iampete · November 3, 2019, 8:25pm

plane 4.0

github.com

ArduPilot/ardupilot/blob/aad00db692ecd8bcbac527189cc47c97ce851120/libraries/RC_Channel/RC_Channel.h#L174


    REVERSE_THROTTLE =    64, // reverse throttle input
    GPS_DISABLE  =        65, // disable GPS for testing
    RELAY5 =              66, // Relay5 pin on/off
    RELAY6 =              67, // Relay6 pin on/off
    STABILIZE =           68, // stabilize mode
    POSHOLD   =           69, // poshold mode
    ALTHOLD   =           70, // althold mode
    FLOWHOLD  =           71, // flowhold mode
    CIRCLE    =           72, // circle mode
    DRIFT     =           73, // drift mode
    SAILBOAT_MOTOR_3POS = 74, // Sailboat motoring 3pos
    KILL_IMU1 =          100, // disable first IMU (for IMU failure testing)
    KILL_IMU2 =          101, // disable second IMU (for IMU failure testing)
    // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
    // also, if you add an option >255, you will need to fix duplicate_options_exist


    // inputs eventually used to replace RCMAP
    MAINSAIL =           207, // mainsail input
};
typedef enum AUX_FUNC aux_func_t;

latest

github.com

ArduPilot/ardupilot/blob/8d2a624fccdc85086d8da1885b53c3dea868c18a/libraries/RC_Channel/RC_Channel.h#L177


    RELAY6 =              67, // Relay6 pin on/off
    STABILIZE =           68, // stabilize mode
    POSHOLD   =           69, // poshold mode
    ALTHOLD   =           70, // althold mode
    FLOWHOLD  =           71, // flowhold mode
    CIRCLE    =           72, // circle mode
    DRIFT     =           73, // drift mode
    SAILBOAT_MOTOR_3POS = 74, // Sailboat motoring 3pos
    SURFACE_TRACKING =    75, // Surface tracking upwards or downwards
    STANDBY  =            76, // Standby mode
    TAKEOFF   =           77, // takeoff
    KILL_IMU1 =          100, // disable first IMU (for IMU failure testing)
    KILL_IMU2 =          101, // disable second IMU (for IMU failure testing)
    // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
    // also, if you add an option >255, you will need to fix duplicate_options_exist


    // inputs eventually used to replace RCMAP
    MAINSAIL =           207, // mainsail input
};
typedef enum AUX_FUNC aux_func_t;

Would be quite an easy back-port

iampete · November 3, 2019, 8:30pm

In-fact its in the list to back-port to plane 4.0, it should be in there for the next release

dkemxr · November 3, 2019, 8:41pm

It is in 4.0.0. I have tested it “on the bench” w/o a prop and when the takeoff parameters are met (accel) it spins up so I assume it would actually Takeoff. So just the RCx option is not recognized? Haven’t tried that.

OK tried it and see the same error. So it’s available in Mission Planner but not supported in firmware.