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Failsafe: enable low position failsafe also in Position flight mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-12-19 16:44:40 +01:00
parent ad799b64b7
commit c851187eb8
2 changed files with 3 additions and 2 deletions
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src/modules/commander/commander_params.c
+1 -1
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@@ -935,7 +935,7 @@ PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f);
*
* Action the system takes when the estimated position has an accuracy below the specified threshold.
* See COM_POS_LOW_EPH to set the failsafe threshold.
* The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,
* The failsafe action is only executed if the vehicle is in Mission, Loiter or Manual Position mode
* otherwise it is only a warning.
*
* @group Commander
src/modules/commander/failsafe/failsafe.cpp
+2 -1
View File
@@ -514,7 +514,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
// trigger Low Position Accuracy Failsafe (only in auto mission and auto loiter)
if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
CHECK_FAILSAFE(status_flags, local_position_accuracy_low, fromPosLowActParam(_param_com_pos_low_act.get()));
}