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delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss)

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Daniel Agar 2020-03-11 22:45:55 -04:00 committed by GitHub
parent 0ce9e113ff
commit 5d33b9e999
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GPG Key ID: 4AEE18F83AFDEB23
22 changed files with 40 additions and 848 deletions
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2
ROMFS/px4fmu_common/init.d-posix/1020_uuv_generic
View File

@ -7,7 +7,7 @@ sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor

2
ROMFS/px4fmu_common/init.d-posix/1021_uuv_hippocampus
View File

@ -7,7 +7,7 @@ sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor

2
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
View File

@ -14,7 +14,7 @@ sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor

2
ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
View File

@ -14,7 +14,7 @@ sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor

2
msg/vehicle_status.msg
View File

@ -28,8 +28,6 @@ uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode

2
src/drivers/osd/atxxxx/atxxxx.cpp
View File

@ -437,8 +437,6 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state)
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:

2
src/drivers/rc_input/crsf_telemetry.cpp
View File

@ -154,8 +154,6 @@ bool CRSFTelemetry::send_flight_mode()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:

16
src/modules/commander/Commander.cpp
View File

@ -1301,6 +1301,20 @@ Commander::run()
// update parameters from storage
updateParams();
// NAV_DLL_ACT value 4 Data Link Auto Recovery (CASA Outback Challenge rules) deleted 2020-03-10
if (_param_nav_dll_act.get() == 4) {
mavlink_log_critical(&mavlink_log_pub, "CASA Outback Challenge rules (NAV_DLL_ACT = 4) retired");
_param_nav_dll_act.set(2); // value 2 Return mode
_param_nav_dll_act.commit_no_notification();
}
// NAV_RCL_ACT value 4 RC Auto Recovery (CASA Outback Challenge rules) deleted 2020-03-10
if (_param_nav_rcl_act.get() == 4) {
mavlink_log_critical(&mavlink_log_pub, "CASA Outback Challenge rules (NAV_RCL_ACT = 4) retired");
_param_nav_rcl_act.set(2); // value 2 Return mode
_param_nav_rcl_act.commit_no_notification();
}
/* update parameters */
if (!armed.armed) {
status.system_type = _param_mav_type.get();
@ -3044,13 +3058,11 @@ Commander::update_control_mode()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
/* override is not ok for the RTL and recovery mode */
control_mode.flag_external_manual_override_ok = false;
/* fallthrough */
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:

8
src/modules/commander/commander_params.c
View File

@ -799,15 +799,12 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
*
* The data link loss failsafe will only be entered after a timeout,
* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
* action will be executed. Setting this parameter to 4 will enable CASA
* Outback Challenge rules, which are only recommended to participants
* of that competition.
* action will be executed.
*
* @value 0 Disabled
* @value 1 Hold mode
* @value 2 Return mode
* @value 3 Land mode
* @value 4 Data Link Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*
@ -821,14 +818,11 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
* The RC loss failsafe will only be entered after a timeout,
* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
* by setting the COM_RC_IN_MODE param it will not be triggered.
* Setting this parameter to 4 will enable CASA Outback Challenge rules,
* which are only recommended to participants of that competition.
*
* @value 0 Disabled
* @value 1 Hold mode
* @value 2 Return mode
* @value 3 Land mode
* @value 4 RC Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*

2
src/modules/commander/px4_custom_mode.h
View File

@ -61,7 +61,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
PX4_CUSTOM_SUB_MODE_AUTO_RESERVED_DO_NOT_USE, // was PX4_CUSTOM_SUB_MODE_AUTO_RTGS, deleted 2020-03-05
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
};

41
src/modules/commander/state_machine_helper.cpp
View File

@ -85,8 +85,7 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state);
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act);
@ -421,8 +420,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
} else {
switch (internal_state->main_state) {
@ -459,8 +457,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,
@ -500,21 +497,19 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
} else if (data_link_loss_act_configured && status->data_link_lost && is_armed) {
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
* check for datalink lost: this should always trigger RTL */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act);
} else if (!data_link_loss_act_configured && status->rc_signal_lost && status->data_link_lost && !landed
&& mission_finished && is_armed) {
/* datalink loss DISABLED:
* check if both, RC and datalink are lost during the mission
* or all links are lost after the mission finishes in air: this should always trigger RCRECOVER */
* or all links are lost after the mission finishes in air: this should always trigger RTL */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
} else if (!stay_in_failsafe) {
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
@ -533,8 +528,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status->data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
/* also go into failsafe if just datalink is lost, and we're actually in air */
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act);
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
@ -542,8 +536,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
} else if (status->rc_signal_lost) {
/* don't bother if RC is lost if datalink is connected */
@ -607,8 +600,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
} else if (status->data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// failsafe: just datalink is lost and we're in air
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act);
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
@ -620,8 +612,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
// failsafe: RC is lost, datalink loss is not set up and rc loss is not disabled
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
// is not possible and therefore the internal_state needs to be adjusted.
@ -768,8 +759,7 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or
}
void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state)
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const link_loss_actions_t link_loss_act)
{
// do the best you can according to the action set
@ -778,13 +768,6 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
// If datalink loss failsafe is disabled then no action must be taken.
break;
case link_loss_actions_t::AUTO_RECOVER:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
status->nav_state = auto_recovery_nav_state;
return;
}
// FALLTHROUGH
case link_loss_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state);

1
src/modules/commander/state_machine_helper.h
View File

@ -65,7 +65,6 @@ enum class link_loss_actions_t {
AUTO_LOITER = 1, // Hold mode
AUTO_RTL = 2, // Return mode
AUTO_LAND = 3, // Land mode
AUTO_RECOVER = 4, // Data Link Auto Recovery (CASA Outback Challenge rules)
TERMINATE = 5, // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
LOCKDOWN = 6, // Lock actuators (set actuator outputs to disarmed values)
};

13
src/modules/mavlink/mavlink_messages.cpp
View File

@ -231,9 +231,6 @@ void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, ui
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
/* fallthrough */
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
*mavlink_base_mode |= auto_mode_flags;
custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
@ -250,12 +247,6 @@ void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, ui
custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
*mavlink_base_mode |= auto_mode_flags;
custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
@ -2182,15 +2173,13 @@ protected:
bool vehicle_in_auto_mode = _vehicle_status_time > 0
&& (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL);
// Handle next waypoint if it is valid
if (vehicle_in_auto_mode && _setpoint_triplet_time > 0 && _setpoint_triplet.current.valid) {

2
src/modules/navigator/CMakeLists.txt
View File

@ -46,8 +46,6 @@ px4_add_module(
precland.cpp
mission_feasibility_checker.cpp
geofence.cpp
datalinkloss.cpp
rcloss.cpp
enginefailure.cpp
gpsfailure.cpp
follow_target.cpp

217
src/modules/navigator/datalinkloss.cpp
View File

@ -1,217 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file datalinkloss.cpp
* Helper class for Data Link Loss Mode according to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
#include "datalinkloss.h"
DataLinkLoss::DataLinkLoss(Navigator *navigator) :
MissionBlock(navigator),
ModuleParams(navigator),
_dll_state(DLL_STATE_NONE)
{
}
void
DataLinkLoss::on_inactive()
{
/* reset DLL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_dll_state = DLL_STATE_NONE;
}
}
void
DataLinkLoss::on_activation()
{
_dll_state = DLL_STATE_NONE;
advance_dll();
set_dll_item();
}
void
DataLinkLoss::on_active()
{
if (is_mission_item_reached()) {
advance_dll();
set_dll_item();
}
}
void
DataLinkLoss::set_dll_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous = pos_sp_triplet->current;
_navigator->set_can_loiter_at_sp(false);
switch (_dll_state) {
case DLL_STATE_FLYTOCOMMSHOLDWP: {
_mission_item.lat = (double)(_param_nav_dll_ch_lat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_nav_dll_ch_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_nav_dll_ch_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_nav_dll_ch_t.get() < 0.0f ? 0.0f : _param_nav_dll_ch_t.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case DLL_STATE_FLYTOAIRFIELDHOMEWP: {
_mission_item.lat = (double)(_param_nav_ah_lat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_nav_ah_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_nav_ah_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.time_inside = _param_nav_dll_ah_t.get() < 0.0f ? 0.0f : _param_nav_dll_ah_t.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case DLL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
DataLinkLoss::advance_dll()
{
switch (_dll_state) {
case DLL_STATE_NONE:
/* Check the number of data link losses. If above home fly home directly */
/* if number of data link losses limit is not reached fly to comms hold wp */
if (_navigator->get_vstatus()->data_link_lost_counter > _param_nav_dll_n.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
_navigator->get_vstatus()->data_link_lost_counter, _param_nav_dll_n.get());
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
if (!_param_nav_dll_chsk.get()) {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
} else {
/* comms hold wp not active, fly to airfield home directly */
warnx("Skipping comms hold wp. Flying directly to airfield home");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "fly to airfield home, comms hold skipped");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
}
}
break;
case DLL_STATE_FLYTOCOMMSHOLDWP:
warnx("fly to airfield home");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "fly to airfield home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
_dll_state = DLL_STATE_TERMINATE;
warnx("time is up, state should have been changed manually by now");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_TERMINATE:
warnx("dll end");
_dll_state = DLL_STATE_END;
break;
default:
break;
}
}

92
src/modules/navigator/datalinkloss.h
View File

@ -1,92 +0,0 @@
/***************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file datalinkloss.h
* Helper class for Data Link Loss Mode acording to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class DataLinkLoss : public MissionBlock, public ModuleParams
{
public:
DataLinkLoss(Navigator *navigator);
~DataLinkLoss() = default;
void on_inactive() override;
void on_activation() override;
void on_active() override;
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_DLL_CH_T>) _param_nav_dll_ch_t,
(ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_nav_dll_ch_lat, // * 1e7
(ParamInt<px4::params::NAV_DLL_CH_LON>) _param_nav_dll_ch_lon, // * 1e7
(ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_nav_dll_ch_alt,
(ParamInt<px4::params::NAV_AH_LAT>) _param_nav_ah_lat, // * 1e7
(ParamInt<px4::params::NAV_AH_LON>) _param_nav_ah_lon, // * 1e7
(ParamFloat<px4::params::NAV_AH_ALT>) _param_nav_ah_alt,
(ParamFloat<px4::params::NAV_DLL_AH_T>) _param_nav_dll_ah_t,
(ParamInt<px4::params::NAV_DLL_N>) _param_nav_dll_n,
(ParamInt<px4::params::NAV_DLL_CHSK>) _param_nav_dll_chsk
)
enum DLLState {
DLL_STATE_NONE = 0,
DLL_STATE_FLYTOCOMMSHOLDWP = 1,
DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
DLL_STATE_TERMINATE = 3,
DLL_STATE_END = 4
} _dll_state{DLL_STATE_NONE};
/**
* Set the DLL item
*/
void set_dll_item();
/**
* Move to next DLL item
*/
void advance_dll();
};

132
src/modules/navigator/datalinkloss_params.c
View File

@ -1,132 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file datalinkloss_params.c
*
* Parameters for DLL
*
* @author Thomas Gubler <thomas@px4.io>
*/
/*
* Data Link Loss parameters, accessible via MAVLink
*/
/**
* Comms hold wait time
*
* The amount of time in seconds the system should wait at the comms hold waypoint
*
* @unit s
* @min 0.0
* @max 3600.0
* @decimal 0
* @increment 1
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
/**
* Comms hold Lat
*
* Latitude of comms hold waypoint
*
* @unit deg * 1e7
* @min -900000000
* @max 900000000
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
/**
* Comms hold Lon
*
* Longitude of comms hold waypoint
*
* @unit deg * 1e7
* @min -1800000000
* @max 1800000000
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
/**
* Comms hold alt
*
* Altitude of comms hold waypoint
*
* @unit m
* @min -50
* @max 30000
* @decimal 1
* @increment 0.5
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
/**
* Airfield home wait time
*
* The amount of time in seconds the system should wait at the airfield home waypoint
*
* @unit s
* @min 0.0
* @max 3600.0
* @decimal 0
* @increment 1
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
/**
* Number of allowed Datalink timeouts
*
* After more than this number of data link timeouts the aircraft returns home directly
*
* @min 0
* @max 1000
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_N, 2);
/**
* Skip comms hold wp
*
* If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
* airfield home
*
* @boolean
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_CHSK, 0);

6
src/modules/navigator/navigator.h
View File

@ -41,7 +41,6 @@
#pragma once
#include "datalinkloss.h"
#include "enginefailure.h"
#include "follow_target.h"
#include "geofence.h"
@ -51,7 +50,6 @@
#include "loiter.h"
#include "mission.h"
#include "navigator_mode.h"
#include "rcloss.h"
#include "rtl.h"
#include "takeoff.h"
@ -83,7 +81,7 @@
/**
* Number of navigation modes that need on_active/on_inactive calls
*/
#define NAVIGATOR_MODE_ARRAY_SIZE 11
#define NAVIGATOR_MODE_ARRAY_SIZE 9
class Navigator : public ModuleBase<Navigator>, public ModuleParams
@ -382,8 +380,6 @@ private:
Land _land; /**< class for handling land commands */
PrecLand _precland; /**< class for handling precision land commands */
RTL _rtl; /**< class that handles RTL */
RCLoss _rcLoss; /**< class that handles RTL according to OBC rules (rc loss mode) */
DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */
EngineFailure _engineFailure; /**< class that handles the engine failure mode (FW only!) */
GpsFailure _gpsFailure; /**< class that handles the OBC gpsfailure loss mode */
FollowTarget _follow_target;

26
src/modules/navigator/navigator_main.cpp
View File

@ -84,8 +84,6 @@ Navigator::Navigator() :
_land(this),
_precland(this),
_rtl(this),
_rcLoss(this),
_dataLinkLoss(this),
_engineFailure(this),
_gpsFailure(this),
_follow_target(this)
@ -94,14 +92,12 @@ Navigator::Navigator() :
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_dataLinkLoss;
_navigation_mode_array[4] = &_engineFailure;
_navigation_mode_array[5] = &_gpsFailure;
_navigation_mode_array[6] = &_rcLoss;
_navigation_mode_array[7] = &_takeoff;
_navigation_mode_array[8] = &_land;
_navigation_mode_array[9] = &_precland;
_navigation_mode_array[10] = &_follow_target;
_navigation_mode_array[3] = &_engineFailure;
_navigation_mode_array[4] = &_gpsFailure;
_navigation_mode_array[5] = &_takeoff;
_navigation_mode_array[6] = &_land;
_navigation_mode_array[7] = &_precland;
_navigation_mode_array[8] = &_follow_target;
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
@ -493,11 +489,6 @@ Navigator::run()
navigation_mode_new = &_loiter;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_rcLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: {
_pos_sp_triplet_published_invalid_once = false;
@ -613,11 +604,6 @@ Navigator::run()
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_dataLinkLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_engineFailure;

178
src/modules/navigator/rcloss.cpp
View File

@ -1,178 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rcloss.cpp
* Helper class for RC Loss Mode according to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/uORB.h>
#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
#include "datalinkloss.h"
RCLoss::RCLoss(Navigator *navigator) :
MissionBlock(navigator),
ModuleParams(navigator),
_rcl_state(RCL_STATE_NONE)
{
}
void
RCLoss::on_inactive()
{
/* reset RCL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rcl_state = RCL_STATE_NONE;
}
}
void
RCLoss::on_activation()
{
_rcl_state = RCL_STATE_NONE;
advance_rcl();
set_rcl_item();
}
void
RCLoss::on_active()
{
if (is_mission_item_reached()) {
advance_rcl();
set_rcl_item();
}
}
void
RCLoss::set_rcl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous = pos_sp_triplet->current;
_navigator->set_can_loiter_at_sp(false);
switch (_rcl_state) {
case RCL_STATE_LOITER: {
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = _navigator->get_global_position()->alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = _navigator->get_global_position()->yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_nav_gpsf_lt.get() < 0.0f ? 0.0f : _param_nav_gpsf_lt.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("RC not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
RCLoss::advance_rcl()
{
switch (_rcl_state) {
case RCL_STATE_NONE:
if (_param_nav_gpsf_lt.get() > 0.0f) {
warnx("RC loss, OBC mode, loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, loitering");
_rcl_state = RCL_STATE_LOITER;
} else {
warnx("RC loss, OBC mode, slip loiter, terminate");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, terminating");
_rcl_state = RCL_STATE_TERMINATE;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
}
break;
case RCL_STATE_LOITER:
_rcl_state = RCL_STATE_TERMINATE;
warnx("time is up, no RC regain, terminating");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE:
warnx("rcl end");
_rcl_state = RCL_STATE_END;
break;
default:
break;
}
}

81
src/modules/navigator/rcloss.h
View File

@ -1,81 +0,0 @@
/***************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rcloss.h
* Helper class for RC Loss Mode acording to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class RCLoss : public MissionBlock, public ModuleParams
{
public:
RCLoss(Navigator *navigator);
~RCLoss() = default;
void on_inactive() override;
void on_activation() override;
void on_active() override;
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_RCL_LT>) _param_nav_gpsf_lt
)
enum RCLState {
RCL_STATE_NONE = 0,
RCL_STATE_LOITER = 1,
RCL_STATE_TERMINATE = 2,
RCL_STATE_END = 3
} _rcl_state{RCL_STATE_NONE};
/**
* Set the RCL item
*/
void set_rcl_item();
/**
* Move to next RCL item
*/
void advance_rcl();
};

59
src/modules/navigator/rcloss_params.c
View File

@ -1,59 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rcloss_params.c
*
* Parameters for RC Loss (OBC)
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/*
* OBC RC Loss mode parameters, accessible via MAVLink
*/
/**
* RC Loss Loiter Time (CASA Outback Challenge rules)
*
* The amount of time in seconds the system should loiter at current position before termination.
* Only applies if NAV_RCL_ACT is set to 2 (CASA Outback Challenge rules).
* Set to -1 to make the system skip loitering.
*
* @unit s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_RCL_LT, 120.0f);