Can't disable RTH after FS

[kiryam]

Current Behavior

1. After some FS (RC signal loss) airplane went to RTH.
2. Signal was recovered but RTH still enabled. (RTH sticks does not helps)
3. Airplane crashed by the tree.

Steps to Reproduce

1. Fly to altitude 860 using CRUISE mode
2. Get failsafe by RC
3. Wait until plane start to descend (after rich home point)
4. Wait rssi OK
5. Try to control your plane by sticks.

Expected behavior

I expected that after RSSI ok and I able to control plane RTH should be OFF (if I not enabled it manually)

Suggested solution(s)

I think the problem in CRUISE mode

Additional context

blackbox data: https://yadi.sk/i/kZTgxPFL3amogL

---

• FC Board name and vendor: INAV/SPRACINGF3
• INAV version string: 2.0.0 Aug 19 2018 / 21:15:55 (dbdd165)

https://www.youtube.com/watch?v=7qpZrnyUzK8

[kiryam]

# version
# INAV/SPRACINGF3 2.0.0 Aug 19 2018 / 21:15:55 (dbdd1656a)

# resources

# mixer
mmix 0  1.000  0.000  0.000  0.000
mmix 1  1.000  0.000  0.000  0.000

# servo mix
smix 0 3 0 50 0
smix 1 3 1 50 0
smix 2 4 0 -50 0
smix 3 4 1 50 0

# servo
servo 3 1000 2000 1485 -100
servo 4 1000 2000 1533 100

# feature
feature MOTOR_STOP
feature SOFTSERIAL
feature GPS
feature CURRENT_METER
feature AIRMODE
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 1 1 115200 38400 0 115200
serial 2 64 115200 38400 0 115200
serial 31 2 115200 9600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 2 1400 2100
aux 1 1 0 1300 2100
aux 2 3 0 1650 2100
aux 3 3 6 1475 2100
aux 4 9 0 1675 2100
aux 5 8 1 1400 2100
aux 6 35 6 1400 2100
aux 7 14 3 1450 2100
aux 8 27 7 1725 2100
aux 9 18 4 1400 2075

# adjrange

# rxrange

# master
set looptime = 2000
set gyro_sync = ON
set gyro_hardware_lpf = 20HZ
set acc_hardware = MPU6050
set acczero_x = 86
set acczero_y = -18
set acczero_z = -137
set accgain_x = 4063
set accgain_y = 4080
set accgain_z = 4002
set mag_hardware = HMC5883
set magzero_x = 103
set magzero_y = -436
set magzero_z = 962
set baro_hardware = MS5611
set pitot_hardware = NONE
set receiver_type = SERIAL
set rssi_channel = 15
set serialrx_provider = SBUS
set blackbox_rate_denom = 32
set max_throttle = 2000
set failsafe_delay = 1
set failsafe_procedure = RTH
set align_board_roll = 10
set align_board_pitch = -58
set align_board_yaw = 1800
set vbat_scale = 1275
set current_meter_scale = 200
set current_meter_offset = 25430
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set gps_sbas_mode = AUTO
set inav_reset_home = FIRST_ARM
set nav_rth_abort_threshold = 49999
set nav_rth_altitude = 2000
set nav_fw_cruise_thr = 1700
set nav_fw_max_thr = 2000
set nav_fw_bank_angle = 35
set nav_fw_launch_thr = 2000
set nav_fw_launch_motor_delay = 50
set nav_fw_launch_timeout = 10000
set nav_fw_launch_climb_angle = 30
set nav_fw_allow_manual_thr_increase = ON

# profile
profile 1

set fw_p_pitch = 9
set fw_i_pitch = 20
set fw_ff_pitch = 93
set fw_p_roll = 7
set fw_i_roll = 14
set fw_ff_roll = 66
set fw_p_level = 10
set fw_i_level = 15
set max_angle_inclination_rll = 800
set max_angle_inclination_pit = 800
set tpa_rate = 33
set tpa_breakpoint = 1300
set roll_rate = 35
set pitch_rate = 9

# battery_profile
battery_profile 1

set vbat_max_cell_voltage = 430

# ```

[stronnag]

State changes:

$ inav_modes.rb -i 2 ~/dl/blackbox_log_2018-09-02_002039.TXT 
blackbox_log_2018-09-02_002039.TXT: INAV 2.0.0 (dbdd1656a) SPRACINGF3
Time(s)	Elapsed(s)	State
  70.5	(   0.0)	nav_state_launch_wait (26)
  79.6	(   9.1)	nav_state_launch_in_progress (28)
  89.5	(  19.0)	nav_state_idle (1)
 106.2	(  35.7)	nav_state_rth_head_home (10)
 116.7	(  46.2)	nav_state_poshold_3d_in_progress (7)
 120.3	(  49.8)	nav_state_idle (1)
 129.7	(  59.3)	nav_state_poshold_3d_in_progress (7)
 189.6	( 119.2)	nav_state_idle (1)
 196.6	( 126.1)	nav_state_cruise_3d_in_progress (33)
 197.6	( 127.1)	nav_state_cruise_3d_adjusting (34)
 197.9	( 127.5)	nav_state_cruise_3d_in_progress (33)
 198.3	( 127.9)	nav_state_cruise_3d_adjusting (34)
 199.2	( 128.7)	nav_state_cruise_3d_in_progress (33)
 199.4	( 128.9)	nav_state_cruise_3d_adjusting (34)
 202.6	( 132.1)	nav_state_cruise_3d_in_progress (33)
 203.3	( 132.8)	nav_state_cruise_3d_adjusting (34)
 205.1	( 134.6)	nav_state_cruise_3d_in_progress (33)
 205.6	( 135.1)	nav_state_cruise_3d_adjusting (34)
 206.6	( 136.2)	nav_state_cruise_3d_in_progress (33)
 207.7	( 137.3)	nav_state_cruise_3d_adjusting (34)
 208.4	( 138.0)	nav_state_cruise_3d_in_progress (33)
 208.7	( 138.3)	nav_state_cruise_3d_adjusting (34)
 209.6	( 139.1)	nav_state_cruise_3d_in_progress (33)
 210.5	( 140.0)	nav_state_cruise_3d_adjusting (34)
 211.0	( 140.5)	nav_state_cruise_3d_in_progress (33)
 212.0	( 141.6)	nav_state_cruise_3d_adjusting (34)
 214.2	( 143.7)	nav_state_cruise_3d_in_progress (33)
 214.6	( 144.1)	nav_state_cruise_3d_adjusting (34)
 215.8	( 145.4)	nav_state_cruise_3d_in_progress (33)
 217.3	( 146.8)	nav_state_idle (1)
 358.5	( 288.1)	F/S=RETURN_TO_HOME (1485,1180,1503,1992);(0,1)
 358.5	( 288.1)	nav_state_rth_head_home (10)
 359.4	( 289.0)	F/S=IDLE (1442,1150,1503,1992);(1,1)
 359.4	( 289.0)	nav_state_idle (1)
 361.6	( 291.2)	F/S=RETURN_TO_HOME (1505,1150,1503,1992);(0,1)
 361.6	( 291.2)	nav_state_rth_head_home (10)
 363.3	( 292.9)	F/S=IDLE (1645,1232,1503,1992);(1,1)
 363.3	( 292.9)	nav_state_idle (1)
 365.8	( 295.3)	F/S=RETURN_TO_HOME (1506,1186,1503,1992);(0,1)
 365.8	( 295.3)	nav_state_rth_head_home (10)
 367.1	( 296.6)	F/S=IDLE (1423,1280,1503,1992);(1,1)
 367.1	( 296.6)	nav_state_idle (1)
 369.4	( 298.9)	F/S=RETURN_TO_HOME (1353,1155,1503,1992);(0,1)
 369.4	( 298.9)	nav_state_rth_head_home (10)
 373.0	( 302.6)	F/S=IDLE (1446,1411,1503,1993);(1,1)
 373.0	( 302.6)	nav_state_idle (1)
 374.9	( 304.4)	F/S=RETURN_TO_HOME (1513,1230,1503,1993);(0,1)
 374.9	( 304.4)	nav_state_rth_head_home (10)
 379.4	( 308.9)	F/S=IDLE (1120,1300,1502,1993);(1,1)
 379.4	( 308.9)	nav_state_cruise_3d_in_progress (33)
 379.5	( 309.0)	nav_state_cruise_3d_adjusting (34)
 379.9	( 309.5)	nav_state_cruise_3d_in_progress (33)
 381.8	( 311.4)	nav_state_cruise_3d_adjusting (34)
 383.3	( 312.8)	F/S=RETURN_TO_HOME (1220,987,1502,1993);(0,1)
 383.3	( 312.8)	nav_state_rth_head_home (10)
 386.7	( 316.2)	F/S=IDLE (1323,987,1503,1993);(1,1)
 386.7	( 316.2)	nav_state_cruise_3d_adjusting (34)
 391.8	( 321.4)	F/S=RETURN_TO_HOME (1295,987,1503,1993);(0,1)
 391.8	( 321.4)	nav_state_rth_head_home (10)
 392.5	( 322.1)	F/S=IDLE (1520,987,1503,1993);(1,1)
 392.5	( 322.1)	nav_state_cruise_3d_in_progress (33)
 393.2	( 322.7)	nav_state_cruise_3d_adjusting (34)
 394.6	( 324.2)	F/S=RETURN_TO_HOME (1360,987,1503,1993);(0,1)
 394.6	( 324.2)	nav_state_rth_head_home (10)
 410.8	( 340.3)	F/S=IDLE (1007,1040,1503,1993);(1,1)
 410.8	( 340.3)	nav_state_cruise_3d_adjusting (34)
 413.0	( 342.5)	F/S=RETURN_TO_HOME (1016,1085,1503,1993);(0,1)
 413.0	( 342.5)	nav_state_rth_head_home (10)
 418.8	( 348.3)	F/S=IDLE (1011,1330,1503,1993);(1,1)
 418.8	( 348.3)	nav_state_cruise_3d_adjusting (34)
 419.4	( 349.0)	nav_state_cruise_3d_in_progress (33)
 419.6	( 349.1)	nav_state_cruise_3d_adjusting (34)
 420.8	( 350.3)	F/S=RETURN_TO_HOME (1825,1120,1503,1993);(0,1)
 420.8	( 350.3)	nav_state_rth_head_home (10)
 430.8	( 360.4)	F/S=IDLE (1740,1131,1503,1993);(1,1)
 430.8	( 360.4)	nav_state_cruise_3d_adjusting (34)
 431.9	( 361.5)	F/S=RETURN_TO_HOME (1736,1127,1503,1993);(0,1)
 431.9	( 361.5)	nav_state_rth_landing (12)
 465.0	( 394.5)	F/S=IDLE (1010,1501,1503,2000);(1,1)
 468.3	( 397.8)	F/S=RETURN_TO_HOME (1000,1501,1503,2000);(0,1)
 469.5	( 399.0)	F/S=IDLE (1450,1500,1503,2000);(1,1)
 470.5	( 400.1)	F/S=RETURN_TO_HOME (1205,1500,1503,2000);(0,1)
 478.4	( 408.0)	F/S=IDLE (1275,1500,1503,2000);(1,1)
 483.5	( 413.1)	F/S=RETURN_TO_HOME (1007,1470,1503,2000);(0,1)
 493.6	( 423.1)	F/S=IDLE (1285,1493,1500,987);(1,1)
 494.0	( 423.6)	F/S=RETURN_TO_HOME (1285,1493,1500,987);(0,1)
 497.4	( 427.0)	F/S=IDLE (1010,1496,1500,987);(1,1)
 499.6	( 429.1)	F/S=RETURN_TO_HOME (1010,1523,1505,987);(0,1)
 500.7	( 430.3)	F/S=IDLE (1016,1500,1502,987);(1,1)
 502.1	( 431.6)	F/S=RETURN_TO_HOME (1502,1500,1502,987);(0,1)
 507.2	( 436.8)	F/S=IDLE (1110,1500,1502,987);(1,1)
 517.9	( 447.4)	F/S=RETURN_TO_HOME (1505,1501,1502,987);(0,1)
 518.8	( 448.3)	F/S=IDLE (1000,1530,1502,987);(1,1)
 521.1	( 450.6)	F/S=RETURN_TO_HOME (1005,1501,1502,987);(0,1)
 522.4	( 451.9)	F/S=IDLE (1010,1291,1502,987);(1,1)
 523.1	( 452.7)	F/S=RETURN_TO_HOME (1010,1291,1502,987);(0,1)
 529.7	( 459.2)	F/S=IDLE (1015,1001,1502,987);(1,1)
 533.7	( 463.2)	F/S=RETURN_TO_HOME (1503,1493,1502,987);(0,1)
 542.3	( 471.8)	F/S=IDLE (1085,1500,1502,987);(1,1)
 551.0	( 480.6)	nav_state_idle (1)
 552.1	( 481.7)	nav_state_cruise_3d_adjusting (34)
 552.5	( 482.1)	nav_state_cruise_3d_in_progress (33)
 552.6	( 482.1)	nav_state_cruise_3d_adjusting (34)
 553.0	( 482.5)	nav_state_cruise_3d_in_progress (33)
 555.9	( 485.4)	F/S=RETURN_TO_HOME (1500,1501,1501,987);(0,1)
 555.9	( 485.4)	nav_state_rth_head_home (10)
 558.9	( 488.4)	F/S=IDLE (1170,1501,1502,987);(1,1)
 558.9	( 488.4)	nav_state_cruise_3d_in_progress (33)
 559.0	( 488.5)	nav_state_cruise_3d_adjusting (34)
 560.0	( 489.5)	nav_state_cruise_3d_in_progress (33)
 561.7	( 491.2)	F/S=RETURN_TO_HOME (1493,1501,1502,987);(0,1)
 561.7	( 491.2)	nav_state_rth_head_home (10)
 563.5	( 493.0)	F/S=IDLE (1010,1495,1502,987);(1,1)
 563.5	( 493.0)	nav_state_cruise_3d_adjusting (34)
 565.2	( 494.7)	F/S=RETURN_TO_HOME (1300,1500,1502,987);(0,1)
 565.2	( 494.7)	nav_state_rth_head_home (10)
 567.7	( 497.3)	nav_state_rth_landing (12)
 570.3	( 499.8)	F/S=IDLE (1746,1263,1502,987);(1,1)
 571.6	( 501.1)	F/S=RETURN_TO_HOME (1630,1345,1502,987);(0,1)
 761.3	( 690.8)	F/S=IDLE (1005,1500,1503,987);(1,1)
 771.9	( 701.5)	F/S=RETURN_TO_HOME (1007,1470,1503,987);(0,1)
 772.8	( 702.4)	F/S=IDLE (1006,1440,1502,987);(1,1)
 887.6	( 817.1)	F/S=RETURN_TO_HOME (1496,1500,1502,987);(0,1)
 899.0	( 828.6)	F/S=IDLE (1376,1500,1502,987);(1,1)
 936.7	( 866.2)	nav_state_poshold_3d_in_progress (7)
 937.5	( 867.0)	nav_state_cruise_3d_in_progress (33)
 938.1	( 867.6)	nav_state_rth_landing (12)