[yrless]

First off thanks to the LibrePilot crew for all their efforts....much appreciated.

I've set one of my Flight Modes to "VelocityRoam" and changed the Attitude Estimation Algorithm to "GPS Navigation INS13."  I understand the logic in waiting for a valid GPS signal to begin flying outdoors in this mode, however, my quad won't arm indoors even if my mode switch is set to a "Stabilized" with no GPS component.  Does anyone have a workaround for this situation or do I have to select "Basic" for the Attitude Est. Algorithm everytime I want to fly indoors?

[DocHardinger]

Yes you need to switch to basic otherwise it wont arm...

[yrless]

Ok..thank you for the confirmation....I just found it a bit odd that I can't arm into a flight mode which is not using GPS.

[Mateusz]

Ok..thank you for the confirmation....I just found it a bit odd that I can't arm into a flight mode which is not using GPS.

The INS13 check wiki is using all sensors for position estimation, heading etc.. that is correct behavior that indoors you can't use all sensors.

[hwh]

Ok..thank you for the confirmation....I just found it a bit odd that I can't arm into a flight mode which is not using GPS.

It's a safety thing, if we let you arm and takeoff with a gps mode on the switch but gps not ready you could switch to the mode in flight while the gps was still not ready.  You might have a fly-away or worse.

There's an estimation mode called something like indoor gps that fakes gps for when you fly indoors.

[yrless]

Ok understood...thank you.