{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/6969","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/6969/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/6969/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/6969/events","html_url":"https://github.com/betaflight/betaflight/issues/6969","id":372707804,"node_id":"MDU6SXNzdWUzNzI3MDc4MDQ=","number":6969,"title":"GPS Rescue drops when in non-air mode?","user":{"login":"TonyBlit","id":2266058,"node_id":"MDQ6VXNlcjIyNjYwNTg=","avatar_url":"https://avatars0.githubusercontent.com/u/2266058?v=4","gravatar_id":"","url":"https://api.github.com/users/TonyBlit","html_url":"https://github.com/TonyBlit","followers_url":"https://api.github.com/users/TonyBlit/followers","following_url":"https://api.github.com/users/TonyBlit/following{/other_user}","gists_url":"https://api.github.com/users/TonyBlit/gists{/gist_id}","starred_url":"https://api.github.com/users/TonyBlit/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TonyBlit/subscriptions","organizations_url":"https://api.github.com/users/TonyBlit/orgs","repos_url":"https://api.github.com/users/TonyBlit/repos","events_url":"https://api.github.com/users/TonyBlit/events{/privacy}","received_events_url":"https://api.github.com/users/TonyBlit/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":9,"created_at":"2018-10-22T21:27:19Z","updated_at":"2018-10-24T14:08:41Z","closed_at":null,"author_association":"NONE","body":"Hi, I've been testing the GPS Rescue feature in the field for a few weeks already. In the beginning I was hitting the 100m distance from home hardcoded check, so I decided to start reading the source code. This helped a bit, but I still have not been able to achieve solid 100% success rate. There are certain drops that I can't still fully understand.\r\n\r\nThis is how I test it:\r\n\r\n- Take off and fly past 100m from home\r\n- Hover at a reasonable altitude (higher than 10m)\r\n- Activate failsafe switch\r\n- Pray to the developers of the feature\r\n- See the outcome of my praying: either the quad comes back or it falls to the ground\r\n\r\nBy reviewing the footage of the last tries I realized that on every success I was flying in Air mode. So I checked the two fails, and while one was in Angle and the other in Acro, both had Air mode disabled. Interesting. Next step was to analyze the black box data. Note that I'm testing with sanity check ON, and default failsafe settings except FS procedure is set to GPS Rescue. This means throttle dropping to 0 for the stage1 duration (0.4s).\r\n\r\nWhen flying in Air mode: I can see on the video that once RX Loss is triggered, the quad stays level while falling. The blackbox reflects this behaviour by showing small spins of the motors to keep the gyro steady in all axis. 0.6s into the RX Loss, GPS Rescue is activated, and motors are spinning as expected with the quad coming back.\r\n\r\nWhen flying in non-Air mode: motors are totally shut down, so the quad drops without control. 0.6s after the RX Loss, the quad is totally upside down, and accelerometers showing close to 0g on all axis (free falling). GPS Rescue does not trigger. It hurts.\r\n\r\nSo, is it possible than under these circumstances (non-Air mode, throttle low on stage1, and sanity check enabled), GPS Rescue can't figure how to level the quad so it simply drops?\r\n\r\nIf the above is correct, my feature request would be to warn the user in some way, as recently done with the incompatibility between 3D mode and GPS Rescue.\r\n\r\nSide question: why it takes 0.6s instead of 0.4s for GPS Rescue to start doing its thing? This means that even reducing the stage1 to 0.1s, the quad could have been falling for 0.3s without control by the time GPS Rescue has to start working. Can these extra 0.2s be reduced somehow?\r\n\r\nI can provide videos and BB data of my unexpected drops."},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/432672726","html_url":"https://github.com/betaflight/betaflight/issues/6969#issuecomment-432672726","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/6969","id":432672726,"node_id":"MDEyOklzc3VlQ29tbWVudDQzMjY3MjcyNg==","user":{"login":"etracer65","id":17088539,"node_id":"MDQ6VXNlcjE3MDg4NTM5","avatar_url":"https://avatars1.githubusercontent.com/u/17088539?v=4","gravatar_id":"","url":"https://api.github.com/users/etracer65","html_url":"https://github.com/etracer65","followers_url":"https://api.github.com/users/etracer65/followers","following_url":"https://api.github.com/users/etracer65/following{/other_user}","gists_url":"https://api.github.com/users/etracer65/gists{/gist_id}","starred_url":"https://api.github.com/users/etracer65/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/etracer65/subscriptions","organizations_url":"https://api.github.com/users/etracer65/orgs","repos_url":"https://api.github.com/users/etracer65/repos","events_url":"https://api.github.com/users/etracer65/events{/privacy}","received_events_url":"https://api.github.com/users/etracer65/received_events","type":"User","site_admin":false},"created_at":"2018-10-24T14:08:41Z","updated_at":"2018-10-24T14:08:41Z","author_association":"MEMBER","body":"> Regarding the auto-disarm timer I think that code should be working fine, because at this point throttle is correctly calculated by GPS Rescue.\r\n\r\nNo, GPS Rescue doesn't update rcCommand[THROTTLE]. The throttle value is applied directly in the mixer before updating the motors. So if stick arming is used, motor_stop enabled, and the throttle is put to minimum during GPS Rescue (whether failsafe or not) then the quad will disarm after 5 seconds.\r\n\r\nTo make it easier I'll open a PR that fixes both of these and you can test with that. Or just let me know what target you need and I'll build it for you."}}
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