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Commander: put action for low position estimation accuracy into parameter

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-11-15 15:32:53 -05:00
committed by Daniel Agar
parent 2ce390a780
commit 3093c593a5
5 changed files with 86 additions and 12 deletions
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src/modules/commander/failsafe/failsafe.h
+12 -1
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@@ -141,6 +141,15 @@ private:
Land_mode = 5
};
enum class command_after_pos_low_failsafe : int32_t {
None = 0,
Warning = 1,
Hold_mode = 2,
Return_mode = 3,
Terminate = 4,
Land_mode = 5
};
enum class command_after_remaining_flight_time_low : int32_t {
None = 0,
Warning = 1,
@@ -156,6 +165,7 @@ 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 fromPosLowActParam(int param_value);
static ActionOptions fromRemainingFlightTimeLowActParam(int param_value);
const int _caller_id_mode_fallback{genCallerId()};
@@ -191,7 +201,8 @@ private:
(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_FLTT_LOW_ACT>) _param_com_fltt_low_act
(ParamInt<px4::params::COM_FLTT_LOW_ACT>) _param_com_fltt_low_act,
(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act
);
};