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

src/modules/commander/Commander.cpp

@@ -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:

src/modules/commander/commander_params.c

@@ -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
  *

src/modules/commander/px4_custom_mode.h

@@ -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
 };

src/modules/commander/state_machine_helper.cpp

@@ -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);

src/modules/commander/state_machine_helper.h

@@ -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)
 };