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Added functionality to prevent activating smartrtl even for disarmed … #28284

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Added functionality to prevent activating smartrtl even for disarmed … #28284

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13 changes: 12 additions & 1 deletion ArduCopter/mode_smart_rtl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,13 @@

bool ModeSmartRTL::init(bool ignore_checks)
{
// Add check to prevent SmartRTL activation when disarmed
if (!motors->armed()) {
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@rmackay9 rmackay9 Oct 3, 2024 •
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In copter we always allow users to switch to any mode while the vehicle is disarmed. We do not allow users to arm in SmartRTL though so users are forced to be in a different mode when it comes time to arm.

// Send a warning message to the GCS
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Cannot engage SmartRTL while disarmed");
return false; // Prevent initialization
}

if (g2.smart_rtl.is_active()) {
// initialise waypoint and spline controller
wp_nav->wp_and_spline_init();
Expand Down Expand Up @@ -174,8 +181,12 @@ void ModeSmartRTL::pre_land_position_run()
// save current position for use by the smart_rtl flight mode
void ModeSmartRTL::save_position()
{
const bool should_save_position = motors->armed() && (copter.flightmode->mode_number() != Mode::Number::SMART_RTL);
// Prevent saving positions when the drone is disarmed
if (!motors->armed()) {
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We've already got a "should_save_position" below so I don't think we need this extra armed check.

I suspect the issue is not that a point is being saved but that home is being saved while the vehicle is disarmed. This means that if the user moves the vehicle after arming SmartRTL may move to the original position. Could you confirm this is the issue you're seeing?

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Yes this is the issue i was seeing so that it should not go to smartrtl mode before arming the copter that's why i added that thanks for reviewing!

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Hi @harsh839,

OK thanks for that. I think a better solution then would be to modify the AP_SmartRTL::update() function so that it takes a "save_home" argument that is set to true if the vehicle is disarmed.

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Actually after looking at the code a bit more, I see that when the vehicle arms it calls copter.g2.smart_rtl.set_home(copter.position_ok()) so there shouldn't be any need to do what I've mentioned above.

I'm sorry @harsh839, I don't see the problem. Are you sure that you've reproduced a problem and shown that this PR fixes it? Could you please share some logs or screen shots showing the before and after?

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ohk i will be posting here just check my another PR which fixes #17419

return;
}

const bool should_save_position = motors->armed() && (copter.flightmode->mode_number() != Mode::Number::SMART_RTL);
copter.g2.smart_rtl.update(copter.position_ok(), should_save_position);
}

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