Unable to arm in an non GPS equipped quad (only Lidar & OpticalFlow)

[cramredan1]

Hi there. I'm getting trouble arming in a non GPS equiped quad (only Lidar & OpticalFlow provided by an MicoAir MTF-01).
Accelerometer/Compass and OpticalFlow have been perfectly detected and calibrated, but I still get a "Navigation is safe" warning
Any idea?

[mmosca]

Do you have any navigation modes configured in the modes tab?

Can you share your diff?

[cramredan1]

Yes, I had ANGLE in startup mode.

Now, I just swapped this mode out as outlined in this capture, but the "Navigation is safe" warning is still there. Impossible to arm.

I attached the .diff file for you.
INAV_8.0.0_cli_20250212_135359.txt

[sensei-hacker]

In the CLI, do:

set allow_dead_reckoning = ON
save

[cramredan1]

set allow_dead_reckoning... not a reckonized command !

Applied inav_allow_dead_reckoning = ON instead in CLI, saved, but the damned "Navigation is safe" warning message (Red icon) is still there. Impossible to arm.

[sensei-hacker]

Okay, please run the "status" command (or look at the OSD) and there will be more detail about WHY navigation is unsafe.
It will say navigation already active, or first waypoint too far, waypoint error, or most likely "waiting for GPS fix".

[cramredan1]

Currently, this is my CLI Status command output. VTX not detected but I don't need to install it yet. Better sort one problem after the other. Do you see any culprit in these lines?

Entering CLI Mode, type 'exit' to return, or 'help'

status

INAV/MATEKH743 8.0.0 Jan 21 2025 / 16:13:24 (ec2106a)
GCC-13.2.1 20231009
System Uptime: 138 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 11.70V (3S battery - OK)
CPU Clock=480MHz, GYRO=ICM42605, ACC=ICM42605, BARO=DPS310, MAG=MSP, RANGEFINDER=MSP, OPFLOW=MSP
STM32 system clocks:
SYSCLK = 480 MHz
HCLK = 240 MHz
PCLK1 = 120 MHz
PCLK2 = 120 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=OK, OPFLOW=OK, GPS=NONE
SD card: Manufacturer 0x2, 15187968kB, 12/2001, v3.1, 'SA16G'
Filesystem: Ready
Stack size: 6144, Stack address: 0x20020000, Heap available: 1612
I2C Errors: 50, config size: 13475, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 1, used = ADC 1
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 2, used = ADC 2
AIRSPEED : configured = ADC 4, used = none
System load: 2, cycle time: 504, PID rate: 1984, RX rate: 9, System rate: 10
Arming disabled flags: NAV BOXFS RX CLI
WAITING FOR GPS FIX
OSD: not enabled
VTX: not detected

[cramredan1]

Maybe these elements will help you find-out my arming problem...

While these modes allow for arming without problem.

When trying to add NAV POSHOLD mode to the list, arming becomes impossible.

[sensei-hacker]

Okay, I see:

Arming disabled flags: NAV BOXFS RX CLI
WAITING FOR GPS FIX

For now, you can use the extra arming safety bypass.
In CLI:
set nav_extra_arming_safety = ALLOW_BYPASS
save

Then put your yaw stick full right while flipping the arm switch.

[cramredan1]

That solved my problem and allowed arming. Thank you very much sensei.
However, I do feel this workaround brings a major issue in terms of safety.

For my test quad experiments, thats not a problem.
But for production drones, this is not acceptable.

To me, this problem should be properly addressed in code and cared for by the team.

**"WAITING FOR GPS FIX" warning in a non GPS configuration is absurd and "nav_extra_arming_safety = ALLOW_BYPASS" workaround is not acceptable on a production scale"

[sensei-hacker]

**"WAITING FOR GPS FIX" warning in a non GPS configuration is absurd and "nav_extra_arming_safety = ALLOW_BYPASS" workaround is not acceptable on a production scale"

On that note, what do you have set as your failsafe action, please?

[cramredan1]

My failsafe is currently set to LAND. It is switch activated as follows :