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Commander: COM_RCL_EXCEPT consider all auto modes triggered by action in bit 1

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2026-01-07 11:37:26 +01:00
committed by Silvan Fuhrer
parent cf50ecf41b
commit ec6dd286fc
4 changed files with 21 additions and 12 deletions
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src/modules/commander/commander_params.c
+2 -1
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@@ -609,11 +609,12 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
*
* Specify modes where manual control loss is ignored and no failsafe is triggered.
* External modes requiring stick input will still failsafe.
* Auto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.
*
* @min 0
* @max 31
* @bit 0 Mission
* @bit 1 Hold
* @bit 1 Auto modes
* @bit 2 Offboard
* @bit 3 External Mode
* @bit 4 Altitude Cruise
src/modules/commander/failsafe/failsafe.cpp
+15 -7
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@@ -464,13 +464,21 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
const bool rc_loss_ignored_mission = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Mission);
const bool rc_loss_ignored_loiter = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
const bool rc_loss_ignored_auto_modes = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_DESCEND ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_ORBIT)
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::AutoModes);
const bool rc_loss_ignored_offboard = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Offboard);
const bool rc_loss_ignored_takeoff = (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
const bool rc_loss_ignored_altitude_cruise = (state.user_intended_mode ==
vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::AltitudeCruise));
@@ -486,8 +494,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL8)
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::ExternalMode);
const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_auto_modes || rc_loss_ignored_offboard ||
rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
|| _manual_control_lost_at_arming || rc_loss_ignored_altitude_cruise;
if (_param_com_rc_in_mode.get() != int32_t(RcInMode::DisableManualControl) && !rc_loss_ignored) {
src/modules/commander/failsafe/failsafe.h
+1 -1
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@@ -55,7 +55,7 @@ private:
enum class ManualControlLossExceptionBits : int32_t {
Mission = (1 << 0),
Hold = (1 << 1),
AutoModes = (1 << 1),
Offboard = (1 << 2),
ExternalMode = (1 << 3),
AltitudeCruise = (1 << 4)