Bug Report
User discovered they were able to arm their heli using stick arming with the throttle stick not on the bottom stop. This is a change in behavior from 4.6 and prior.
How to verify
start SITL with version 4.6 stable from Linux command line ("simvehicle.py -f heli")
in mavproxy, type
RC 8 1000 (sets interlock low)
RC 4 2000 (simulate rudder arming)
aircraft arms
RC 4 1500
disarm
RC 3 1300 (set throttle stick above zero)
RC 4 2000
aircraft won't arm
Repeat these steps with 4.7 and you will find that the aircraft will arm with the throttle above zero position
History:
In 2019, Chris Olsen merged a PR that allowed throttle stick above zero when arming through a switch or GCS. This did not affect stick arming in that it still required the throttle to be zero prior to arming.
There was another PR in 2020 by Mark Whitehorn. In this one, the RC_OPTION bit requiring zero throttle (bit 5) was defaulted to checked for copter and kept unchecked for heli. Again this didn't affect this behavior which seems odd but heli stick arming still required zero throttle.
Expected behavior:
-stick arming requires zero throttle
-arming via switch or GCS can be done with throttle in any position
Version
Copter 4.7.0
Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine
Airframe type
Heli
Hardware type
All
Bug Report
User discovered they were able to arm their heli using stick arming with the throttle stick not on the bottom stop. This is a change in behavior from 4.6 and prior.
How to verify
start SITL with version 4.6 stable from Linux command line ("simvehicle.py -f heli")
in mavproxy, type
RC 8 1000 (sets interlock low)
RC 4 2000 (simulate rudder arming)
aircraft arms
RC 4 1500
disarm
RC 3 1300 (set throttle stick above zero)
RC 4 2000
aircraft won't arm
Repeat these steps with 4.7 and you will find that the aircraft will arm with the throttle above zero position
History:
In 2019, Chris Olsen merged a PR that allowed throttle stick above zero when arming through a switch or GCS. This did not affect stick arming in that it still required the throttle to be zero prior to arming.
There was another PR in 2020 by Mark Whitehorn. In this one, the RC_OPTION bit requiring zero throttle (bit 5) was defaulted to checked for copter and kept unchecked for heli. Again this didn't affect this behavior which seems odd but heli stick arming still required zero throttle.
Expected behavior:
-stick arming requires zero throttle
-arming via switch or GCS can be done with throttle in any position
Version
Copter 4.7.0
Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine
Airframe type
Heli
Hardware type
All