fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Failsafe: set clear condition for action Land like for RTL (#23569)

Browse Source 
For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.

Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-08-22 14:03:24 +02:00 committed by GitHub
parent 6ef82ada6e
commit e0bb56b6a7
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/commander/failsafe/failsafe.cpp
View File

@ -60,6 +60,7 @@ FailsafeBase::ActionOptions Failsafe::fromNavDllOrRclActParam(int param_value)
case gcs_connection_loss_failsafe_mode::Land_mode:
options.action = Action::Land;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;
case gcs_connection_loss_failsafe_mode::Terminate:
@ -113,6 +114,7 @@ FailsafeBase::ActionOptions Failsafe::fromGfActParam(int param_value)
case geofence_violation_action::Land_mode:
options.action = Action::Land;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;
default:
@ -355,6 +357,7 @@ FailsafeBase::ActionOptions Failsafe::fromHighWindLimitActParam(int param_value)
case command_after_high_wind_failsafe::Land_mode:
options.action = Action::Land;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;
default: