The mode change was refused, and the message says why
What ArduPilot says:
- Mode change to … denied, GCS entry disabled (FLTMODE_GCSBLOCK)
- Mode change to … denied, in fence recovery
- HAL_QUADPLANE_ENABLED=0
The change was stopped before the mode was even tried. “GCS entry disabled”: the ground station asked for a mode that FLTMODE_GCSBLOCK does not let it select; such a mode can be entered from the transmitter only. “in fence recovery”: the plane crossed its geofence and is flying back in; with FENCE_OPTIONS bit 0 set, mode changes are refused until the breach is over (RTL's own switch to its landing is still allowed). “HAL_QUADPLANE_ENABLED=0”: a VTOL (Q) mode was asked for, and this firmware was built without QuadPlane.
What to do, most likely first
The plane is outside its fence and
FENCE_OPTIONSbit 0 holds the mode.CheckA fence breach message came before this one, and the mode is the one set by
FENCE_ACTION.FixWait for “Fence breach cleared”, then change the mode. If you want to be able to take over by hand during a breach, clear
FENCE_OPTIONSbit 0 before the flight.The mode is on the list the ground station may not select.
FixSelect the mode with the transmitter's mode switch, or take it out of
FLTMODE_GCSBLOCKif the ground station should be able to choose it.A Q mode was asked for on a firmware without QuadPlane.
FixTake the Q modes off the mode switch. For a real QuadPlane use a firmware with QuadPlane built in; the Firmware Inspector shows what a firmware file contains.
Parameters to look at
| Parameter | What it is |
|---|---|
FENCE_OPTIONS | Fence options |
FENCE_ACTION | Fence Action |
FLTMODE1 | FlightMode1 |
Where to do it:Firmware InspectorFirmware Builder
The code that sends it
Mode change to … denied, GCS entry disabled (FLTMODE_GCSBLOCK)
ArduPlane/system.cpp Plane::set_mode() · Open in ArduPilot Plane-4.7.1
Mode change to … denied, in fence recovery
ArduPlane/system.cpp Plane::set_mode() · Open in ArduPilot Plane-4.7.1
HAL_QUADPLANE_ENABLED=0
ArduPlane/system.cpp Plane::set_mode() · Open in ArduPilot Plane-4.7.1