RC_OPTIONS to 1 make copter yaw spinning

ArduCopter Copter 4.7
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1

I think I found a bug, but I would like somebody else to confirm beform posting it on Github.

I’m working on Gazebo/SITL with standard Iris gazebo multocopter with runway world.

If I set this parameters :

  • RC_OPTIONS 1
  • FS_THR_ENABLE 0 (only to be able to arm)

When I takeoff the copter starts a continuous yaw spinning CCW.

I tried on a full fresh installation of Gazebo and Ardupilot (master and 4.7), the issue is still here

I used this parameter since a long time, and I didn’t see that in previous versions of ArduCopter.

I think I don’t really need this parameter, but it can have other issues because I don’t see any relationship between this parameter and the yaw spinning. And I pretty sure this behavior should also happen in real drones.

If someone can check, just by adding the parameters to the standard Gazebo/SITL Ardupilot

2

Hi @Dronotique,

Txs very much for helping testing 4.7 and reporting back.

I’ve reproduced the issue in SITL by doing the following:

  • ../tools/autotest/sim_vehicle.py --map --console
  • param set RC_OPTIONS 1 (to ignore RC input)
  • param set FS_THR_ENABLE 0 (to disable failsafe to allow arming)
  • GUIDED
  • arm throttle
  • takeoff 10

The vehicle does indeed spin as it climbs because it is consuming the pilot’s yaw input.

The issue occurs in 4.6 though as well so I don’t think it’s a regression but it seems to me that it is probably an existing bug.

If the vehicle is flying in GUIDED (as it is during my test) you can get around the issue by setting GUID_OPTIONS = 4 (Ignore pilot yaw)

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@peterbarker and I are discussing how we should tackle this. Thanks again!

3

Hi @rmackay9 ,

Thank you for your quick response.

I think it not happens only in GUIDED. After the takeoff, if I go to LOITER mode, the drone crash in spinning.

Do you want me to open an issue on Github ?

4

RC_OPTIONS 1 means to ignore RC so that expected you crash in Loiter since you have 0 throttle.

@rmackay9 would need to confirm on a real drone, but this could be just an issue with SITL way to deal rc input from mavproxy

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5

Hi @Dronotique,

Thanks for the feedback. @peterbarker has already created a PR with a potential fix so no need for an issue at this point.

It’d odd that you mention Loiter though because Loiter is a manually controlled mode meaning that an RC is required. Perhaps you’re using a joystick? In AP, a joystick is treated just like other RCs.

If you’re just looking for the vehicle to stop, Guided should work but Brake mode is another option

Thanks again for the report, this does appear to be a real bug!

1 Like