NOT ARMING: Geofence RTL requires valid home

rustymarmot · March 24, 2018, 1:08pm

Does anyone know how to rectify this. Cant arm the quadcopter and it gives this error. Have also tried disabled geofence safety feature and it still gives this error. I also have good GPS lock. Any ideas welcome.

RM

Nicolas · March 26, 2018, 8:38am

The message is printed here:

github.com

PX4/Firmware/blob/cd250831d51126fc3c0d217f18a0702640881f44/src/modules/commander/commander.cpp#L2530


						&& (internal_state.main_state != commander_state_s::MAIN_STATE_ACRO)
						&& (internal_state.main_state != commander_state_s::MAIN_STATE_STAB)
						&& (internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL)
						&& (internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL)
						&& (internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE)
						) {
						print_reject_arm("NOT ARMING: Switch to a manual mode first.");


					} else if (!status_flags.condition_home_position_valid &&
								geofence_action == geofence_result_s::GF_ACTION_RTL) {
						print_reject_arm("NOT ARMING: Geofence RTL requires valid home");


					} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
						arming_ret = arming_state_transition(&status,
										     &battery,
										     &safety,
										     vehicle_status_s::ARMING_STATE_ARMED,
										     &armed,
										     true /* fRunPreArmChecks */,
										     &mavlink_log_pub,
										     &status_flags,

It seems like you the vehicle does not have a home position set. This can be the case even if it has a position lock. If it has a home position you will see an H symbol in QGC.

rustymarmot · March 27, 2018, 10:13pm

Ok. So it seems that even though I get a GPS lock it likes a few extra minutes to deliver a Home confirmation and then I can arm. Not quite sure what its looking for.