Using APM 2.5 with 2.66 and MP with 1.2.19
While testing failsafe (short and long) on the living room floor, I noticed that if you are in circle mode of FS and regain radio (switch it back on) and you are in RTL 3 way switch on your radio, you DO NOT regain control. If you are in Manual or Stabilize, you do regain control. It seems that the RTL mode is locked out while in FS even if radio com is re-established. I would prefer that all the commands be given full authority once radio com is re-established. For me, I just want to get my plane back home ASAP and see what happened.
I'm on the arducopter side so i'm not an expert but we've been looking at failsafes a lot recently...
So you're saying if you happen to be in circle mode you cannot get control back if the failsafe kicks in? ..but if after you get radio contact back you switch the flight mode switch, you must be able to get back into circle mode (or whatever mode) you want right?
I think you're saying that it just doesn't automatically switch you back into the mode you were in before the FS?
Sorry, I knew my brevity would be troublesome. I'll try to clarify:
"bench test" living room floor. All calibration and fail safe set up done in accordance with Wiki and MP. I have Short and Long FS active. i.e. Cir>RTL
1. 3 way switch in Man mode> turn off radio> FS (Cir) no motor activity but appears to set rudder to right turn, Elev. appears neutral> switch radio back on> resumes Man
2. 3 way switch in Stab mode> turn off radio> FS (Cir) no motor activity but appears to set rudder to right turn, Elev. appears neutral> switch radio back on> resumes Stab
3. 3 way switch in RTL mode> turn off radio> FS (Cir) no motor activity but appears to set rudder to right turn, Elev. appears neutral> switch radio back on> doesn't appear to regain control until switched to Stab or Man.
In 1 & 2 above, if the RTL is switched BEFORE radio turned on the result is as in #3, no resume of control until 3 way is moved to Man or Stab.
My point is simply in the heat of the moment where every second can count mightily, it would seem that re-establishing the RC link, should result in APM commanding to the position of the 3 way switch.
I have been reading the arducopter discussion with great interest.
I see the same bevhaviour with APM 2.65 and my plane. Basically, if the plane Failsafes, it will eventually get to RTL mode. When the Tx/Rx connection is regained, regardless of what mode you were in before, it will stay in RTL mode until you move the mode switch.
This has some advantages, as on the edge of the Tx/Rx range you can drop in and out of control (ie. Failsafe) quite a few times and if APM keeps switching back to the pre-failsafe mode, the plane could get stuck failsafing and circling forever, rather than coming home.