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Commander: windCheck: add COM_WIND_MAX_ACT param to set high wind failsafe action (#21373)

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Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-06 11:58:21 +01:00
committed by GitHub
parent a29b07fa73
commit 54d26e084a
5 changed files with 98 additions and 16 deletions
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src/modules/commander/commander_params.c
+24 -7
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@@ -1052,14 +1052,10 @@ PARAM_DEFINE_FLOAT(COM_WIND_WARN, -1.f);
PARAM_DEFINE_INT32(COM_FLT_TIME_MAX, -1);
/**
* Wind speed RTL threshold
* High wind speed failsafe threshold
*
* Wind speed threshold above which an automatic return to launch is triggered.
* It is not possible to resume the mission or switch to any auto mode other than
* RTL or Land if this threshold is exceeded. Taking over in any manual
* mode is still possible.
*
* Set to -1 to disable.
* Wind speed threshold above which an automatic failsafe action is triggered.
* Failsafe action can be specified with COM_WIND_MAX_ACT.
*
* @min -1
* @decimal 1
@@ -1069,6 +1065,27 @@ PARAM_DEFINE_INT32(COM_FLT_TIME_MAX, -1);
*/
PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f);
/**
* High wind failsafe mode
*
* Action the system takes when a wind speed above the specified threshold is detected.
* See COM_WIND_MAX to set the failsafe threshold.
* If enabled, it is not possible to resume the mission or switch to any auto mode other than
* RTL or Land if this threshold is exceeded. Taking over in any manual
* mode is still possible.
*
* @group Commander
*
* @value 0 None
* @value 1 Warning
* @value 2 Hold
* @value 3 Return
* @value 4 Terminate
* @value 5 Land
* @increment 1
*/
PARAM_DEFINE_INT32(COM_WIND_MAX_ACT, 0);
/**
* EPH threshold for RTL
*