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Commander: enable failsafe delay for position and mission mode

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Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
This commit is contained in:
Matthias Grob
2020-07-13 13:10:59 +02:00
parent fa45eacea3
commit 26d74bf57d
6 changed files with 43 additions and 5 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -2545,7 +2545,8 @@ Commander::run()
(link_loss_actions_t)_param_nav_rcl_act.get(),
(offboard_loss_actions_t)_param_com_obl_act.get(),
(offboard_loss_rc_actions_t)_param_com_obl_rc_act.get(),
(position_nav_loss_actions_t)_param_com_posctl_navl.get());
(position_nav_loss_actions_t)_param_com_posctl_navl.get(),
_param_com_ll_delay.get());
if (nav_state_changed) {
_status.nav_state_timestamp = hrt_absolute_time();