Mode switches to RTL when mode Guided is requested by Mavlink

ArduCopter Copter 3.6
1

On real hardware:

  • Fly manually using a Graupner remote to certain position and switch to LOITER mode.
  • Using a PC to send command MAV_CMD_DO_SET_MODE to switch to GUIDED mode.
  • Drone returns to launch position. This is not expected.

On SITL:

  • Send take off command.
  • Using a PC to send command MAV_CMD_DO_SET_MODE to switch to GUIDED mode.
  • Drone does not return to launch position.
  • Drone can be controlled using SET_POSITION_TARGET_LOCAL_NED

What could cause the issue with real hardware?

2

GCS_FAILSAFE comes to my mind.
Or the wrong SYS_ID.

Did you compared the SITL parameters with the real copter parameters? what are the differences?

3

Disabled failsafe on real hardware and now it works! Might need regular heartbeat in guided mode. Needs more testing.