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

Previously the parachute unhealthy failsafe was hardcoded to RTL.

src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp

@@ -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"),
+		reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_missing"),
-				       events::Log::Error, "Parachute system 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"),
+		reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
-				       events::Log::Error, "Parachute system not ready");
+				       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");
+			}
 		}
 	}
 

src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.hpp

@@ -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
 				       )
 };

src/modules/commander/commander_params.yaml

@@ -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

src/modules/commander/failsafe/failsafe.cpp

@@ -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

src/modules/commander/failsafe/failsafe.h

@@ -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
 				       );
 
 };