Hi everyone,
I’m using ArduPlane 4.1.7without a GPS. I want the aircraft to take off using only **throttle and pitch commands in GUIDED mode.
In SITL tests, I noticed that before takeoff, throttle commands in GUIDED mode are ignored**. However, after the aircraft takes off using another mode (such as STABILIZE, MANUAL, TAKEOFF, etc.), throttle commands in GUIDED mode start working normally.
I searched through the parameters to see if there is a way to change this behavior, but I couldn’t find anything. I also tried using AI tools to diagnose the issue, but that didn’t help.
What I want is for throttle commands in GUIDED mode to always be accepted, even before takeoff. I understand the risks (for example, unintended pitch-up with throttle), but I intentionally want to perform the entire takeoff and flight control in GUIDED mode from the very beginning.
Is there a parameter or configuration that allows this? Or is this behavior hard-coded in ArduPlane?
Any guidance would be appreciated.
Thank you.
Guided mode requires GPS.
If you do not have GPS you can not use guided mode in 4.1.
Update to 4.7 beta4 and it might work with optical flow, but you need a position source for sure.
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AFAIK, Guided mode worked with optical flow before 4.6
You have to set the EKF origin either manually or via mavlink to an arbitrary location although in my experience, its less hassle to set it to a coordinate close to your geographcial location or else the compass may throw an error.
In 4.7 atleast, you don’t necessarily have to do this as the arming point will be taken as the origin.
Thanks for the clarification.
Based on my tests, both in SITL and in real ground tests, ArduPlane 4.1.7 can still accept attitude commands in GUIDED mode even without GPS.
In SITL, I repeatedly disabled GPS using the `SIM_GPS_DISABLE` parameter, and the aircraft did not exit GUIDED mode. It also continued accepting attitude/angle commands correctly.
My use case is not full navigation or waypoint guidance. I only want to send:
- attitude commands (pitch/roll angles)
- throttle commands
The only issue is that throttle commands are ignored before takeoff, as I explained earlier. After takeoff happens in another mode, throttle control in GUIDED starts working.
So my question is specifically about how to allow throttle commands in GUIDED before takeoff, not about GPS navigation itself.
If you do not have optical flow, you may be looking at Guided_NoGPS mode which allows companion computers to fly the craft as if in althold. No idea about the thrust though.
Arduplane has no guided_nogps. This mode is for copter
Apparently, there is no direct way to do this through parameters.
So it seems I will need to modify the code and change the conditions that allow throttle and attitude control in GUIDED mode (something similar to a “GUIDED_NOGPS” behavior) for use in non‑GPS situations.
Essentially, what I want is a STABILIZE-like mode, but controlled by a companion computer instead of RC inputs.