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Commander: add max flight time RTL

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Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-09 18:01:25 +02:00
parent 2e1cdc9e75
commit 1aad82f87d
3 changed files with 38 additions and 1 deletions
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src/modules/commander/Commander.cpp
+18
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@@ -2916,6 +2916,24 @@ Commander::run()
/* Get current timestamp */
const hrt_abstime now = hrt_absolute_time();
// Trigger RTL if flight time is larger than max flight time specified in COM_FLT_TIME_MAX.
// The user is not able to override once above threshold, except for triggering Land.
if (!_vehicle_land_detected.landed
&& _param_com_flt_time_max.get() > FLT_EPSILON
&& _internal_state.main_state != commander_state_s::MAIN_STATE_AUTO_RTL
&& _internal_state.main_state != commander_state_s::MAIN_STATE_AUTO_LAND
&& (now - _status.takeoff_time) > (1_s * _param_com_flt_time_max.get())) {
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, _internal_state);
_status_changed = true;
mavlink_log_critical(&_mavlink_log_pub, "Maximum flight time reached, abort operation and RTL");
/* EVENT
* @description
* Maximal flight time reached, return to launch.
*/
events::send(events::ID("commander_max_flight_time_rtl"), {events::Log::Critical, events::LogInternal::Warning},
"Maximum flight time reached, abort operation and RTL");
}
// automatically set or update home position
if (_param_com_home_en.get() && !_home_pub.get().manual_home) {
if (!_armed.armed && _vehicle_land_detected.landed) {