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Commander: add local_position_accuracy_low flag, incl. warning and RTL

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Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-01 16:47:11 +01:00
parent 3ca126cc46
commit 9b3a28dff5
7 changed files with 60 additions and 1 deletions
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msg/FailsafeFlags.msg
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@@ -48,6 +48,7 @@ bool mission_failure # Mission failure
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
# Failure detector
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)