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Commander: add possibility to ignore loss of non-essential stick input in external modes

This commit is contained in:
Matthias Grob 2024-01-26 10:16:37 +01:00
parent 0edebffcd6
commit 33807a0002
3 changed files with 19 additions and 6 deletions
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3
src/modules/commander/commander_params.c
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@ -670,13 +670,14 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
/**
* RC loss exceptions
*
* Specify modes in which RC loss is ignored and the failsafe action not triggered.
* Specify modes in which the loss of non-essential stick input is ignored and no failsafe action is triggered.
*
* @min 0
* @max 31
* @bit 0 Mission
* @bit 1 Hold
* @bit 2 Offboard
* @bit 3 External Mode
* @group Commander
*/
PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);

19
src/modules/commander/failsafe/failsafe.cpp
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@ -388,13 +388,24 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
&& (_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_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 = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
rc_loss_ignored_takeoff || ignore_link_failsafe || _manual_control_lost_at_arming;
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_external_mode =
(state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL2 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL3 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL4 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL5 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL6 ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL7 ||
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_takeoff
|| rc_loss_ignored_offboard || rc_loss_ignored_external_mode || ignore_link_failsafe || _manual_control_lost_at_arming;
if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) {
CHECK_FAILSAFE(status_flags, manual_control_signal_lost,

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

@ -56,7 +56,8 @@ private:
enum class ManualControlLossExceptionBits : int32_t {
Mission = (1 << 0),
Hold = (1 << 1),
Offboard = (1 << 2)
Offboard = (1 << 2),
ExternalMode = (1 << 3)
};
// COM_LOW_BAT_ACT parameter values