ArduPilot/ardupilot

Copter: Pre-Arm Safety Check for Auto Missions

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#1,348 建立於 2014年8月29日

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 (4 留言) (0 反應) (0 負責人)C++ (9,336 star) (15,603 fork)batch import
CopterEnhancementSafetygood first issue

描述

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

貢獻者指南

技術棧
cpp
領域
backendsecurity
議題類型
feature
難度面向新貢獻者的預計實作難度，1 表示很小改動，5 表示專家級工作。
4
預計時間有經驗貢獻者完成調查、實作、測試並準備 pull request 的粗略時間範圍。
3-5 days
活動狀態議題目前的可參與程度：新鮮、活躍、陳舊、阻塞或等待維護者輸入。
stale
清晰度議題是否清楚說明預期改動、驗收標準和下一步。
clear
前置要求
C++ knowledgeUnderstanding of ArduPilot pre arm systemFamiliarity with mission planning
新手友善度1-100 的估計分數，表示該議題對首次貢獻者的友善程度。
40
研究方向
Examine the existing pre arm check implementation in ArduCopter, particularly files like ArduCopter/AP Arming.cpp and ArduCopter/AP Arming.h. Understand how missions are loaded and their waypoint list is structured. Propose a new parameter (e.g., AUTO MIN DISTANCE) and modify the arming logic to check the distance from home to each waypoint in the current mission. If any waypoint exceeds the limit, refuse to arm or disable Auto mode. Simulate and test with Mission Planner.
Copter: Pre-Arm Safety Check for Auto Missions · ArduPilot/ardupilot#1348 | Good First Issue