Dock Mode - Flight Mode Change Failed

ArduRover Rover 4.3
1

Hello,

I am having an issue with Dock Mode. I am using the setup similar to the Blog (Precision Landing with ROS, Realsense T265 Camera and AprilTag 3 - Part 2⁄2). I have changed my setup to be forward facing and confirmed the landing target message is received. My issue arises when I attempt to change the Rover’s mode to Dock mode from any other mode. I get the message Flight Mode Change Failed. I am linking my log to see if anyone is able to find the issue and or provide some insight.

Thanks,
Matt

2

AHR2, 880086499, 4.58, -1.37, 353.29, 0.66, 0, 0, 0.9974598, 0.03918836, -0.01427511, -0.05774442
POS, 880086509, 4.2296338, -8.3231766, 0.53, -0.09016801, -0.100168
PIDS, 880086514, 0.002726932, -0.0001140496, 0.001639069, 0, 0, 0, 0.005781095, 1, 0, 1
PIDA, 880086518, 0.003482054, 0.0009667373, 0.002515317, 0.001798451, 0, 0, 0.0002211914, 1, 0, 1
IMU, 880086522, 0, 0.002043908, 2.968409E-05, -0.0005832361, -0.1797404, -0.1146583, -9.649403, 0, 0, 45.28986, 1, 1, 2024, 2024
IMU, 880086522, 1, 0.003868042, -0.002412156, -0.0001317282, -0.1460694, -0.1562386, -9.750836, 0, 0, 49.08174, 1, 1, 9163, 4581
IMU, 880086522, 2, -0.00472662, 0.0005893455, 0.002755755, -0.09075653, -0.2412039, -9.819736, 0, 0, 52.37122, 1, 1, 9051, 4525
RFND, 880086535, 0, 7.12, 4, 0
ERR, 880086718, 10, 8
MSG, 880086729, Flight mode change failed
MAVC, 880086744, 1, 1, 255, 190, 3, 176, 1, 8, 0, 0, 0, 0, 0, 4, 1
ERR, 880086832, 10, 8
MSG, 880086841, Flight mode change failed
ERR, 880086916, 10, 8
MSG, 880086926, Flight mode change failed
PL, 880087302, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1
FILE, @SYS/storage.bin, 20544, 64,

Sorry my log files were too big

3

Just found that 4.4 beta gives an error message. It look like this is due to the April tag not being viewed by my camera. I will test this and get back.

Thank you,
Matt

4

Yup, I’m dumb.

Thanks,
Matt