Unreliable mode switch via aux function about ardupilot HOT 4 OPEN

Hi @LupusTheCanine,

In general it should be "edge detected" and the last change wins. For the aux mode functions that implement a flight mode, when they are moved to the low position they will switch back to whatever the flight mode channel is set to.

There is also some "debouncing" in the code to ensure that very short transient RC inputs from the flight mode channel and aux function are ignored.

TBH, I suspect that there's no problem in the code.. but perhaps I'm misunderstanding the report..

from ardupilot.

@rmackay9

The problem is that simultaneous transition doesn't work reliably.
I can go RTL->FBWA just fine without even entering Manual but going the other way causes
the transition to be FBWA->RTL->Manual.

Rising edge happening within the debounce time should cancel falling edge mode reversion,

I would classify this as unexpected behaviour with potentially dangerous consequences.

I want to have quick access "Emergency" modes on a separate switch as while buttons on the TX16S are great for switching modes when you aren't in the hurry, they don't really cut it in emergency.

Having one three position "override" switch would be nice alternative but I would rather prefer the sequencing fixed.

from ardupilot.

We check the switches in order, so FBWA on 8 is checked before RTL on 9. If you switch them round I would expect your results to be the other way too. As far as I can tell ArduPilot is handling it consistently. Don't forget RC is not the only source of mode changes.

I want to have quick access "Emergency" modes on a separate switch as while buttons on the TX16S are great for switching modes when you aren't in the hurry, they don't really cut it in emergency.

Presumably your not planning on having to switch two switches in this case then? The issue is because you have done a transmitter mix of some sort? Why not fix it in your mix?

from ardupilot.

Presumably your not planning on having to switch two switches in this case then? The issue is because you have done a transmitter mix of some sort? Why not fix it in your mix?

I would not consider adding a delay to mode change switch an acceptable solution especially given that frame loss can potentially wreck the timing anyways.
"Mode enable" switch going high should override any pending mode enable going down preferably while retaining the original previous mode.

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