{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/13294","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/13294/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/13294/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/13294/events","html_url":"https://github.com/PX4/Firmware/pull/13294","id":513206765,"node_id":"MDExOlB1bGxSZXF1ZXN0MzMzMDM4MjQ1","number":13294,"title":"commander: fix battery failsafe without GPS","user":{"login":"julianoes","id":1419688,"node_id":"MDQ6VXNlcjE0MTk2ODg=","avatar_url":"https://avatars3.githubusercontent.com/u/1419688?v=4","gravatar_id":"","url":"https://api.github.com/users/julianoes","html_url":"https://github.com/julianoes","followers_url":"https://api.github.com/users/julianoes/followers","following_url":"https://api.github.com/users/julianoes/following{/other_user}","gists_url":"https://api.github.com/users/julianoes/gists{/gist_id}","starred_url":"https://api.github.com/users/julianoes/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/julianoes/subscriptions","organizations_url":"https://api.github.com/users/julianoes/orgs","repos_url":"https://api.github.com/users/julianoes/repos","events_url":"https://api.github.com/users/julianoes/events{/privacy}","received_events_url":"https://api.github.com/users/julianoes/received_events","type":"User","site_admin":false},"labels":[{"id":10884838,"node_id":"MDU6TGFiZWwxMDg4NDgzOA==","url":"https://api.github.com/repos/PX4/Firmware/labels/bug","name":"bug","color":"fc2929","default":true},{"id":1143459324,"node_id":"MDU6TGFiZWwxMTQzNDU5MzI0","url":"https://api.github.com/repos/PX4/Firmware/labels/flight-testing","name":"flight-testing","color":"7ae8a4","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/PX4/Firmware/milestones/25","html_url":"https://github.com/PX4/Firmware/milestone/25","labels_url":"https://api.github.com/repos/PX4/Firmware/milestones/25/labels","id":2491597,"node_id":"MDk6TWlsZXN0b25lMjQ5MTU5Nw==","number":25,"title":"Release v1.10.0","description":"","creator":{"login":"LorenzMeier","id":1208119,"node_id":"MDQ6VXNlcjEyMDgxMTk=","avatar_url":"https://avatars3.githubusercontent.com/u/1208119?v=4","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"open_issues":50,"closed_issues":121,"state":"open","created_at":"2017-05-01T13:31:10Z","updated_at":"2019-11-03T19:07:48Z","due_on":"2019-09-01T07:00:00Z","closed_at":null},"comments":11,"created_at":"2019-10-28T10:04:32Z","updated_at":"2019-11-04T15:53:18Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/13294","html_url":"https://github.com/PX4/Firmware/pull/13294","diff_url":"https://github.com/PX4/Firmware/pull/13294.diff","patch_url":"https://github.com/PX4/Firmware/pull/13294.patch"},"body":"This fixes the battery failsafe for the following corner cases:\r\n- Battery failsafe set to Return but we can't do RTL because we don't have a global position or home position. In this case we now switch to   Land. Land might end up in Descend in the failsafe state machine later.\r\n- Battery failsafe set to Land but we can't land because we don't have a   local position. In this case we switch to land anyway and then fall back to descend in the failsafe state machine later.\r\n\r\nThe \"fix\" involves ignoring using the main_state_transition and implementing the guards in place. This is a hack for now but should cover the corner case until a more thorough refactor.\r\n\r\nThe different failsafe state machines have involved over time from requirements and learnings based on developed solutions and products. The implementations in various places will need to get consolidated in the future.\r\n\r\nTested in SITL for Return and Land with and without GPS.\r\n\r\nFixes #13291."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/549417676","html_url":"https://github.com/PX4/Firmware/pull/13294#issuecomment-549417676","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/13294","id":549417676,"node_id":"MDEyOklzc3VlQ29tbWVudDU0OTQxNzY3Ng==","user":{"login":"julianoes","id":1419688,"node_id":"MDQ6VXNlcjE0MTk2ODg=","avatar_url":"https://avatars3.githubusercontent.com/u/1419688?v=4","gravatar_id":"","url":"https://api.github.com/users/julianoes","html_url":"https://github.com/julianoes","followers_url":"https://api.github.com/users/julianoes/followers","following_url":"https://api.github.com/users/julianoes/following{/other_user}","gists_url":"https://api.github.com/users/julianoes/gists{/gist_id}","starred_url":"https://api.github.com/users/julianoes/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/julianoes/subscriptions","organizations_url":"https://api.github.com/users/julianoes/orgs","repos_url":"https://api.github.com/users/julianoes/repos","events_url":"https://api.github.com/users/julianoes/events{/privacy}","received_events_url":"https://api.github.com/users/julianoes/received_events","type":"User","site_admin":false},"created_at":"2019-11-04T15:53:18Z","updated_at":"2019-11-04T15:53:18Z","author_association":"CONTRIBUTOR","body":"From the logs I can tell that the problem seems to be the land estimator not triggering, rather than auto-disarm not working.\r\n\r\n@bresch I'm looking at this log and I can't figure out why the land detector doesn't trigger:\r\nhttps://review.px4.io/plot_app?log=f34aeffd-50e4-48a3-a23d-69cadc351a12"}}
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