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feat(commander): add COM_PARA_ACT to configure parachute unhealthy failsafe

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Previously the parachute unhealthy failsafe was hardcoded to RTL.
This commit is contained in:
gguidone 2026-03-31 17:45:11 +02:00
parent b48f3ef6f7
commit a98093f873
5 changed files with 69 additions and 9 deletions
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26
src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
View File

@ -46,6 +46,10 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
!context.status().parachute_system_present ||
!context.status().parachute_system_healthy;
const bool warn_only = (_param_com_para_act.get() == 0);
const events::Log log_level = warn_only ? events::Log::Warning : events::Log::Error;
const NavModes affected_modes = warn_only ? NavModes::None : NavModes::All;
if (!context.status().parachute_system_present) {
/* EVENT
* @description
@ -55,11 +59,16 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
* Enabled by <param>COM_PARACHUTE</param>
* </profile>
*/
reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_missing"),
events::Log::Error, "Parachute system missing");
reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_missing"),
log_level, "Parachute system missing");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system missing");
if (warn_only) {
mavlink_log_warning(reporter.mavlink_log_pub(), "Parachute system missing");
} else {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system missing");
}
}
} else if (!context.status().parachute_system_healthy) {
@ -72,11 +81,16 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
* Enabled by <param>COM_PARACHUTE</param>
* </profile>
*/
reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
events::Log::Error, "Parachute system not ready");
reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
log_level, "Parachute system not ready");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system not ready");
if (warn_only) {
mavlink_log_warning(reporter.mavlink_log_pub(), "Parachute system not ready");
} else {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system not ready");
}
}
}

3
src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.hpp
View File

@ -45,6 +45,7 @@ public:
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamBool<px4::params::COM_PARACHUTE>) _param_com_parachute
(ParamBool<px4::params::COM_PARACHUTE>) _param_com_parachute,
(ParamInt<px4::params::COM_PARA_ACT>) _param_com_para_act
)
};

13
src/modules/commander/commander_params.yaml
View File

@ -513,6 +513,19 @@ parameters:
short: Require MAVLink parachute system to be present and healthy
type: boolean
default: 0
COM_PARA_ACT:
description:
short: Parachute system unhealthy failsafe action
long: |-
Action taken when the parachute system is enabled (COM_PARACHUTE=1) but reports
missing or unhealthy status during flight.
type: enum
values:
0: Warning
1: Land
2: Return
default: 2
increment: 1
COM_ARM_CHK_ESCS:
description:
short: Enable checks on ESCs that report telemetry

26
src/modules/commander/failsafe/failsafe.cpp
View File

@ -412,6 +412,30 @@ FailsafeBase::ActionOptions Failsafe::fromPosLowActParam(int param_value)
return options;
}
FailsafeBase::ActionOptions Failsafe::fromParachuteActParam(int param_value)
{
ActionOptions options{};
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
switch (parachute_unhealthy_failsafe_mode(param_value)) {
case parachute_unhealthy_failsafe_mode::Warning:
default:
options.action = Action::Warn;
options.clear_condition = ClearCondition::WhenConditionClears;
break;
case parachute_unhealthy_failsafe_mode::Land:
options.action = Action::Land;
break;
case parachute_unhealthy_failsafe_mode::Return:
options.action = Action::RTL;
break;
}
return options;
}
FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int param_value)
{
ActionOptions options{};
@ -575,7 +599,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
}
// Parachute system health failsafe
CHECK_FAILSAFE(status_flags, parachute_unhealthy, Action::RTL);
CHECK_FAILSAFE(status_flags, parachute_unhealthy, ActionOptions(fromParachuteActParam(_param_com_parachute_act.get())));
// Battery low failsafe
// If battery was low and arming was allowed through COM_ARM_BAT_MIN, don't failsafe immediately for the current low battery warning state

10
src/modules/commander/failsafe/failsafe.h
View File

@ -157,6 +157,12 @@ private:
Return_mode = 3
};
enum class parachute_unhealthy_failsafe_mode : int32_t {
Warning = 0,
Land = 1,
Return = 2,
};
static ActionOptions fromNavDllOrRclActParam(int param_value);
static ActionOptions fromGfActParam(int param_value);
@ -168,6 +174,7 @@ private:
static ActionOptions fromHighWindLimitActParam(int param_value);
static ActionOptions fromPosLowActParam(int param_value);
static ActionOptions fromRemainingFlightTimeLowActParam(int param_value);
static ActionOptions fromParachuteActParam(int param_value);
static bool isFailsafeIgnored(uint8_t user_intended_mode, int32_t exception_mask_parameter);
@ -209,7 +216,8 @@ private:
(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act,
(ParamInt<px4::params::COM_WIND_MAX_ACT>) _param_com_wind_max_act,
(ParamInt<px4::params::COM_FLTT_LOW_ACT>) _param_com_fltt_low_act,
(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act
(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act,
(ParamInt<px4::params::COM_PARA_ACT>) _param_com_parachute_act
);
};