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Failsafe: add timer for non gps fused position estimates

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Pernilla
2025-10-24 11:11:42 +02:00
parent 17e96554ec
commit 7c85d756f9
7 changed files with 115 additions and 2 deletions
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msg/FailsafeFlags.msg
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@@ -8,6 +8,7 @@ uint64 timestamp # time since system start (microseconds)
# Per-mode requirements
uint32 mode_req_angular_velocity
uint32 mode_req_attitude
uint32 mode_req_dead_reckoning_invalid
uint32 mode_req_local_alt
uint32 mode_req_local_position
uint32 mode_req_local_position_relaxed
@@ -52,6 +53,7 @@ bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
bool dead_reckoning_invalid # Postion estimate based on dead reckoning is too old to be trusted
# Failure detector
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)