Once the long failsafe (RTL mode) has been entered at the conclusion of the short failsafe the RTL mode will continue even if your RC signal is reacquired.
Correct, Aircraft will remain in RTL even though rc signal is re-esatblished. BUT you can gain control anytime with just flicking the mode switch on your controller.
I must have a parameter set wrong or something. When it goes into RTL, my rc transmitter cannot regain control by itself. My laptop has to be working to regain control and put in manual.
You should in any circumstances regain control with just flicking your mode switch if you have radio contact with the aircraft.
take a look at the Control_Mode code bellow. (From Arduplane)
void Plane::read_control_switch()
{
static bool switch_debouncer;
uint8_t switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) {
// when we are in ch3_failsafe mode then RC input is not
// working, and we need to ignore the mode switch channel
return;
}
if (millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
// spikes in the mode control channel from causing a mode
// switch
switch_debouncer = true;
return;
}
set_mode((enum FlightMode)(flight_modes[switchPosition].get()));
oldSwitchPosition = switchPosition;
prev_WP_loc = current_loc;
}
if (g.reset_mission_chan != 0 &&
hal.rcin->read(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
mission.start();
prev_WP_loc = current_loc;
}
switch_debouncer = false;
if (g.inverted_flight_ch != 0) {
// if the user has configured an inverted flight channel, then
// fly upside down when that channel goes above INVERTED_FLIGHT_PWM
inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
}
