ArduPilot/ardupilot

Copter: Pre-Arm Safety Check for Auto Missions

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#1,348 opened on Aug 29, 2014

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CopterEnhancementSafetygood first issue

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Description

Hi all, for safety reasons I suggest a pre-arm check that either disables Auto mode or refuses to arm if the waypoints are further away from the current/home location than a user specified value in meter. This would prevent from "fly aways" when one accidentally switches to Auto mode and an "old" mission is executed which is located some n km away. Kind regards, Thorsten

Contributor guide

Research direction
Implement a new parameter (e.g., WP MAX DISTANCE) and add a pre arm check in the ArduCopter code that verifies all waypoints in the mission are within that distance from home location. If any waypoint exceeds the limit, abort arming or disable Auto mode.
Tech stack
cpp
Domain
embedded iot
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60