MANUAL_CONTROL axes and heavy config

[EliotBR (Eliot)]

@JPB515

Waiting a few seconds and calling
…
turns 1-4 off but leaves 5-8 on for another second or two. I assume these then get turned off via some sort of timeout or error

@EliotBR

MAVLink connections expect to receive a heartbeat message at least every second (if not received the communication may be stopped), and when you’re controlling the vehicle it’s subject to the heartbeat failsafe, and rc overrides [which ArduSub also uses internally when handling MANUAL_CONTROL messages] are subject to the pilot input failsafe and to RC_OVERRIDE_TIME.

It’s unclear why 5-8 are staying on after you command a stop, but it’s quite likely you’re correct as to why they’re being turned off.

Do you know if your vehicle is operating in manual mode? If it’s in an actively controlled flight mode like depth hold or stabilize then zeros as control input may be interpreted as “maintain this” rather than “stop moving”.

It should at minimum work to disarm when you’re done if you want a more immediate stop, but it would likely be useful to determine what’s causing the unexpected behaviour and stop it at its source.