{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4387","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4387/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4387/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4387/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/4387","id":162558873,"number":4387,"title":"Land causes copter to fall out of sky when R/C is turned off ","user":{"login":"rrr6399","id":2707426,"avatar_url":"https://avatars.githubusercontent.com/u/2707426?v=3","gravatar_id":"","url":"https://api.github.com/users/rrr6399","html_url":"https://github.com/rrr6399","followers_url":"https://api.github.com/users/rrr6399/followers","following_url":"https://api.github.com/users/rrr6399/following{/other_user}","gists_url":"https://api.github.com/users/rrr6399/gists{/gist_id}","starred_url":"https://api.github.com/users/rrr6399/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rrr6399/subscriptions","organizations_url":"https://api.github.com/users/rrr6399/orgs","repos_url":"https://api.github.com/users/rrr6399/repos","events_url":"https://api.github.com/users/rrr6399/events{/privacy}","received_events_url":"https://api.github.com/users/rrr6399/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c"}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":25,"created_at":"2016-06-27T22:02:31Z","updated_at":"2016-06-28T04:34:13Z","closed_at":"2016-06-28T04:17:13Z","body":"\r\n[2016-06-27 11-26-19.zip](https://github.com/ArduPilot/ardupilot/files/335971/2016-06-27.11-26-19.zip)\r\n\r\n#### Issue details\r\nDuring testing recently, we've noticed that switching to Land mode at the end of a AUTO mission or even in guided mode with the R/C turned off will cause the copter to fall out of the sky many times and depending on the copter's R/C receiver it may even be pitch and roll hard if only the throttle is specified with the R/C override message.\r\n\r\nEven though this bug seems to be related to the ongoing bugs caused by the firmware not specifying nominal values for the yaw, pitch and roll when the R/C is turned off and the GCS has not overridden the R/C controls, I would expect LAND to not be dependent on the R/C settings.\r\n\r\n#### Version\r\n3.4\r\n\r\n#### Platform\r\n[  ] All\r\n[  ] AntennaTracker\r\n[ x] Copter\r\n[  ] Plane\r\n[  ] Rover\r\n\r\n#### Airframe type\r\nHex and Quad (Iris)\r\n\r\n#### Hardware type\r\nPixhawk\r\n\r\n#### Logs\r\nTBD\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/228945867","html_url":"https://github.com/ArduPilot/ardupilot/issues/4387#issuecomment-228945867","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4387","id":228945867,"user":{"login":"rrr6399","id":2707426,"avatar_url":"https://avatars.githubusercontent.com/u/2707426?v=3","gravatar_id":"","url":"https://api.github.com/users/rrr6399","html_url":"https://github.com/rrr6399","followers_url":"https://api.github.com/users/rrr6399/followers","following_url":"https://api.github.com/users/rrr6399/following{/other_user}","gists_url":"https://api.github.com/users/rrr6399/gists{/gist_id}","starred_url":"https://api.github.com/users/rrr6399/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rrr6399/subscriptions","organizations_url":"https://api.github.com/users/rrr6399/orgs","repos_url":"https://api.github.com/users/rrr6399/repos","events_url":"https://api.github.com/users/rrr6399/events{/privacy}","received_events_url":"https://api.github.com/users/rrr6399/received_events","type":"User","site_admin":false},"created_at":"2016-06-28T04:34:13Z","updated_at":"2016-06-28T04:34:13Z","body":"@rmackay9 Is THR_MID the only variable you use to detect takeoff and that is used to reset the land_complete state? What happens when the copter has different weighted payloads on it? THR_MID will have to be adjusted for every new weight."}}
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