@superlazy wrote:
My problem:
- I cannot arm copter 3.4 in LOITER mode.
- I cannot switch to LOITER mode after take off in ALTHOLD.
My setup:
- PX2 controller with Copter 3.4.5 stable firmware.
- LIDAR Lite v2 set as range finder.
- PX4FLOW Optical Flow sensor reporting good values.
- ALTHOLD flight mode works well.
- No GPS is attached.
My symptoms:
- I get a pre-arm check error: "Need 3D Fix"
- When I switch in-flight to LOITER, I get an error message in the logs: "Subsystem:10 ErrorCode:5", which I believe is: ERROR_SUBSYSTEM_FLIGHT_MODE and ERROR_CODE_DEST_OUTSIDE_FENCE.
- There seems to be no effect when I switch to LOITER mode during flight. The copter has significant drift.
What I have tried:
- I have gone over the PX4Flow setup instructions several times and confirmed that I am getting good values from the sensor.
- I have triple-checked that my EK2_GPS_TYPE is 3 for optical flow.
- I have triple-checked that the geofence is disabled.
- Set GPS_HDOP_GOOD to a high value (9999)
- Upgraded firmware from 3.4.3 to 3.4.5.
- Confirmed that the GPS pre-arm check is disabled.
Any suggestions greatly appreciated! Thanks!
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