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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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src/modules/commander/failsafe/failsafe.cpp
+6
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@@ -395,6 +395,12 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm));
CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded, ActionOptions(Action::RTL));
// trigger RTL if low position accurancy is detected
if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
CHECK_FAILSAFE(status_flags, local_position_accuracy_low, ActionOptions(Action::RTL));
}
CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()));
// Battery