Is there any way in which RC or Joystick can override autonomous control when the sticks are not centered? I am doing an indoor navigation project and it may save my drone from crashing into walls. Or is the way this is done to switch to loiter and take control? Or maybe I can quickly do brake and then land?
Thanks
Since you are flying indoor I would recommend switching to ALT_HOLD instead, much safer if the EKF is wrong. You could set up a script or EdgeTX logic to automatically trigger going to alt hold if the sticks leave their deadzones.
The thing is this is an autonomous flight so loiter/guided holds position. Alt_Hold might drift and would be more dangerous unless I continually manage to send navigation commands from the GCS. I mean, so far I have been able to takeoff and it’s held its position roughly for quite a few minutes so…
Can you add an optical flow sensor? They don’t weigh much and there are plenty that are supported out of the box, like the ARK flow for example.
Yes, I have an optical flow sensor. That is how I’m loitering
It does as long as EKF is healthy and thinks so. If it stops liking its estimate it lands with pilot controlled roll and pitch (default EKF failsafe). The cases where you would need to quickly take over are planned flight into wall and EKF liking its bad position and velocity estimates in which case you need to switch to alt_hold or stabilize.
Also, on further thought, brake + land or mode switch to alt_hold/loiter seems safer now because otherwise while I’m overriding autonomous control using joystick, the GCS would still be sending navigation commands and I don’t know how it will be handled. Maybe someone can clarify this. Thanks
Yes, this is the potential problem. If our navigation algorithm sends a bad control command, I need to be able to save it
In auto and guided only yaw pilot input may be accepted.
Out of auto no mission is executed.
AFAIK out of guided no guided commands are executed.
Didn’t know that. This may come in handy, thanks
Yeah I realised this hence I’m thinking the better option is a mode switch like brake and then land or alt_hold