Hi All,
A potential safety concern we’ve noticed is that RC controls are passed through directly to the motors when a reboot command is sent through a GCS software. The following conditions were setup for the RC Passthrough to occur:
Pixhawk 2.1, RFD900+ Telemetry, Taranis X9D+ with X8R, MAVProxy GCS. Steps taken:
- Connect Power to Pixhawk 2.1
- Wait for boot to complete
- (Optional) Press in Safety switch or mavproxy: arm safetyoff)
- (Optional) Arm throttle
- Issue reboot from mavproxy or PREFLIGHT_REBOOT_SHUTDOWN from Mission Planner
- Wiggle RC Sticks and throttle to observe passthrough behaviour
- Once Pixhawk has finished booting the RC controls do no pass through anymore.
This was replicated on 3.8.2 with Pixhawk 2.1 as well as 3.7.1 on Pixhawk 1. This behaviour does not occur if the entire pixhawk is power cycled manually by disconnected the power source.
Is there any way to stop the RC Pass through on a soft reboot? Very dangerous if throttle were to accidentally be non-zero on the reboot command.
Regards,
Shreyas, Monash UAS