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Commander: make low remaining flight time configurable and fix clearing condition (#22863)

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* Commander: make low remaining flight time configurable and do not clear

- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low

* battery check: add hysteresis for declaring battery_low_remaining_time false again


---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
This commit is contained in:
Silvan Fuhrer
2024-03-12 12:56:01 +01:00
committed by GitHub
co-authored by KonradRudin
parent 7fe5ee64fe
commit 00cc68baa1
9 changed files with 117 additions and 30 deletions
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src/modules/commander/failsafe/failsafe.h
+9 -1
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@@ -141,6 +141,12 @@ private:
Land_mode = 5
};
enum class command_after_remaining_flight_time_low : int32_t {
None = 0,
Warning = 1,
Return_mode = 3
};
static ActionOptions fromNavDllOrRclActParam(int param_value);
static ActionOptions fromGfActParam(int param_value);
@@ -150,6 +156,7 @@ private:
static ActionOptions fromQuadchuteActParam(int param_value);
static Action fromOffboardLossActParam(int param_value, uint8_t &user_intended_mode);
static ActionOptions fromHighWindLimitActParam(int param_value);
static ActionOptions fromRemainingFlightTimeLowActParam(int param_value);
const int _caller_id_mode_fallback{genCallerId()};
bool _last_state_mode_fallback{false};
@@ -182,7 +189,8 @@ private:
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act,
(ParamInt<px4::params::COM_WIND_MAX_ACT>) _param_com_wind_max_act
(ParamInt<px4::params::COM_WIND_MAX_ACT>) _param_com_wind_max_act,
(ParamInt<px4::params::COM_FLTT_LOW_ACT>) _param_com_fltt_low_act
);
};