{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/1797","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1797/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1797/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1797/events","html_url":"https://github.com/diydrones/ardupilot/issues/1797","id":54851314,"number":1797,"title":"Copter: check the CH3 value when switch to Stabilize or Acro from any automatic flight mode","user":{"login":"robustini","id":3864712,"avatar_url":"https://avatars.githubusercontent.com/u/3864712?v=3","gravatar_id":"","url":"https://api.github.com/users/robustini","html_url":"https://github.com/robustini","followers_url":"https://api.github.com/users/robustini/followers","following_url":"https://api.github.com/users/robustini/following{/other_user}","gists_url":"https://api.github.com/users/robustini/gists{/gist_id}","starred_url":"https://api.github.com/users/robustini/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/robustini/subscriptions","organizations_url":"https://api.github.com/users/robustini/orgs","repos_url":"https://api.github.com/users/robustini/repos","events_url":"https://api.github.com/users/robustini/events{/privacy}","received_events_url":"https://api.github.com/users/robustini/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/ArduCopter","name":"ArduCopter","color":"02e10c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2015-01-20T07:19:31Z","updated_at":"2015-01-20T12:09:52Z","closed_at":null,"body":"Unfortunately a friend has happened this:\r\n\r\nhttps://www.youtube.com/watch?v=KLW1wouIGbA&list=UUPcCCiqkWYZmvxVgHhDZDHA\r\n\r\nOver $2000 of damage for this reason, switch from RTL to Stabilize with the throttle stick to lowest position, ie motors off.\r\nIn fact in our code lacks this obvious safety check, we do not have a check if switch from any automatic flight mode to Stabilize or Acro and the throttle stick too low for any reason (distraction, etc).\r\nSo I think it needed a simple patch with a parameter:  when switch from any automatic flight mode to Stabilize or Acro first check the throttle stick value, if it's lower than the value of \"THR_SFT\" (new parameter for example, similar to THR_MID but obviously with a lower value) ignore the mode switch, but by moving the throttle stick over that value switching occurs without having to switch back again.\r\nPersonally I'd rather have the ability to disable this protection, so if the parameter \"THR_SFT\" is \"0\" this security check will not be enabled."},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/70644405","html_url":"https://github.com/diydrones/ardupilot/issues/1797#issuecomment-70644405","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1797","id":70644405,"user":{"login":"R-Lefebvre","id":3228111,"avatar_url":"https://avatars.githubusercontent.com/u/3228111?v=3","gravatar_id":"","url":"https://api.github.com/users/R-Lefebvre","html_url":"https://github.com/R-Lefebvre","followers_url":"https://api.github.com/users/R-Lefebvre/followers","following_url":"https://api.github.com/users/R-Lefebvre/following{/other_user}","gists_url":"https://api.github.com/users/R-Lefebvre/gists{/gist_id}","starred_url":"https://api.github.com/users/R-Lefebvre/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/R-Lefebvre/subscriptions","organizations_url":"https://api.github.com/users/R-Lefebvre/orgs","repos_url":"https://api.github.com/users/R-Lefebvre/repos","events_url":"https://api.github.com/users/R-Lefebvre/events{/privacy}","received_events_url":"https://api.github.com/users/R-Lefebvre/received_events","type":"User","site_admin":false},"created_at":"2015-01-20T12:09:52Z","updated_at":"2015-01-20T12:09:52Z","body":"Marco, I'd like to propose a different solution.  How about a Ch7/8 Throttle Hold feature?  It would operate just like on a helicopter.  When used, it would prevent motor shut down whenever the throttle is brought to the bottom if the switch is \"up\".  This would also help for Acro, because the motors would never shut down.\r\n\r\nConversely, when the switch is \"off\", the motors would absolutely stop *no matter which mode*!  It's an instant kill switch.  This makes it safter.\r\n\r\nI've wanted to do this for a long time, but I would need to know that it would be accepted in the code.  I think it solves a lot of problems at once.\r\n\r\nOften when I'm testing, I get a minor tip-over or something, and because of mot-spin-armed, the motors won't shut off.  It's a struggle to try and disarm while the motors are squealing, they could get damaged.  This function would solve that problem too.  "}}