fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 13:40:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Improve offboard failsafe (#18160)

Browse Source 
* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
This commit is contained in:
benjinne
2021-09-08 12:19:53 -04:00
committed by GitHub
parent 686bcff8a7
commit 06a91ec752
6 changed files with 79 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+16 -3
View File
@@ -749,17 +749,30 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
case commander_state_s::MAIN_STATE_OFFBOARD:
if (status_flags.offboard_control_signal_lost) {
if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_OFFBOARD)) {
if (status.rc_signal_lost) {
// Offboard and RC are lost
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_offboard);
set_offboard_loss_nav_state(status, armed, status_flags, offb_loss_act);
} else {
// Offboard is lost, RC is ok
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_offboard);
set_offboard_loss_rc_nav_state(status, armed, status_flags, offb_loss_rc_act);
if (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_OFFBOARD) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_offboard);
set_offboard_loss_nav_state(status, armed, status_flags, offb_loss_act);
} else {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_offboard);
set_offboard_loss_rc_nav_state(status, armed, status_flags, offb_loss_rc_act);
}
}
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_OFFBOARD)) {
// Only RC is lost
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
}