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Add RC option for flightmode pause/resume #26748

Merged
merged 2 commits into from
Apr 11, 2024
Merged

Add RC option for flightmode pause/resume #26748

merged 2 commits into from
Apr 11, 2024

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peterbarker
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Tested in SITL with both guided/auto on Copter.

rmackay9
rmackay9 requested changes Apr 10, 2024
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Thanks for this, we surely need to update some parameter docs..

I wonder if it should be FLIGHTMODE_PAUSE or maybe just Pause? It doesn't work in all modes so we might want to display a failure to the user.

@peterbarker peterbarker added the WikiNeeded needs wiki update label Apr 10, 2024
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LOITER> Mode LOITER
rc height 25
11 2000
LOITER> AP: Flight Mode Pause failed
height 14

@peterbarker
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Thanks for this, we surely need to update some parameter docs..

Whoops. Added the parameter docs.

I wonder if it should be FLIGHTMODE_PAUSE or maybe just Pause? It doesn't work in all modes so we might want to display a failure to the user.

Now displays a failure to the user if they try to use it and the mode says no.

@peterbarker peterbarker requested a review from rmackay9 April 10, 2024 08:35
rmackay9
rmackay9 approved these changes Apr 10, 2024
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LGTM.

I think that Rover could probably support pausing now too now that it uses SCurves. Just musing though and not in any way trying to add to your work load because nobody's actually asked for it yet.

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I think that Rover could probably support pausing now too now that it uses SCurves. Just musing though and not in any way trying to add to your work load because nobody's actually asked for it yet.

@mustafa-gokce did offer an implementation: #19552

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@peterbarker,

OK, thanks. That implementation is OK but we should do it the same way we've done it for Copter which works better especially when the vehicle is in the middle of a corner.

@peterbarker peterbarker merged commit 18850fd into ArduPilot:master Apr 11, 2024
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@peterbarker peterbarker deleted the pr/rc-pause-resume branch April 11, 2024 02:25
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@peterbarker @rmackay9