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fix: fallback to mode set by COM_POSCTL_NAVL upon navigation loss in pos slow mode

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This commit is contained in:
Peter Breuer
2025-04-25 08:16:21 +02:00
committed by Beat Küng
parent effb9dee11
commit 38922d10a0
1 changed files with 6 additions and 4 deletions
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src/modules/commander/failsafe/failsafe.cpp
+6 -4
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@@ -661,8 +661,9 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
switch (position_control_navigation_loss_response(_param_com_posctl_navl.get())) {
case position_control_navigation_loss_response::Altitude_Manual: // AltCtrl/Manual
// PosCtrl -> AltCtrl
if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL
// PosCtrl/PositionSlow -> AltCtrl
if ((user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW)
&& !modeCanRun(status_flags, user_intended_mode)) {
action = Action::FallbackAltCtrl;
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
@@ -679,8 +680,9 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
case position_control_navigation_loss_response::Land_Descend: // Land/Terminate
// PosCtrl -> Land
if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL
// PosCtrl/PositionSlow -> Land
if ((user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW)
&& !modeCanRun(status_flags, user_intended_mode)) {
action = Action::Land;
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;