fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 08:28:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(gpsRedundancyCheck): add GPS redundancy failsafe with divergence check

Browse Source 
- Monitors GPS count and triggers configurable failsafe (COM_GPS_LOSS_ACT) when count drops below SYS_HAS_NUM_GPS
- Tracks online (present+fresh) and fixed (3D fix) receivers separately; emits "receiver offline" vs "receiver lost fix"
- Detects position divergence between two receivers against combined RMS eph uncertainty plus lever-arm separation
- Pre-arm warns immediately; in-flight requires 2s sustained divergence to suppress multipath false alarms
- Adds GpsRedundancyCheckTest functional test suite

New parameters: SYS_HAS_NUM_GPS, COM_GPS_LOSS_ACT
This commit is contained in:
gguidone
2026-04-09 10:53:22 +02:00
parent b48f3ef6f7
commit b589115dc3
10 changed files with 539 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/FailsafeFlags.msg
+1
View File
@@ -59,3 +59,4 @@ 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 parachute_unhealthy # Parachute system missing or unhealthy
bool gps_redundancy_lost # Number of active GPS receivers dropped below COM_GPS_MIN