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commander: Add parameter to control postal fallback after loss of navigation accuracy

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Also remove else if branch that cannot be accessed.
This commit is contained in:
Paul Riseborough
2017-05-06 09:57:17 +10:00
committed by ChristophTobler
parent b85c8fa135
commit 00a42abc69
4 changed files with 27 additions and 6 deletions
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src/modules/commander/commander_params.c
+13
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@@ -601,3 +601,16 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 0);
* @boolean
*/
PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
/**
* Position control navigation loss response.
*
* This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control.
* Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
*
* @value 0 Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL.
* @value 1 Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION.
*
* @group Mission
*/
PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);