Commander: support finer granularity of data llink loss and RC loss actions

src/modules/commander/commander.cpp

@@ -1171,7 +1171,8 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_sys_type = param_find("MAV_TYPE");
 	param_t _param_system_id = param_find("MAV_SYS_ID");
 	param_t _param_component_id = param_find("MAV_COMP_ID");
-	param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
+	param_t _param_enable_datalink_loss = param_find("NAV_DLL_ACT");
+	param_t _param_enable_rc_loss = param_find("NAV_RCL_ACT");
 	param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
 	param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
 	param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
@@ -1524,7 +1525,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	transition_result_t arming_ret;
 
-	int32_t datalink_loss_enabled = false;
+	int32_t datalink_loss_enabled = 0;
+	int32_t rc_loss_enabled = 0;
 	int32_t datalink_loss_timeout = 10;
 	float rc_loss_timeout = 0.5;
 	int32_t datalink_regain_timeout = 0;
@@ -1608,6 +1610,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* Safety parameters */
 			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
+			param_get(_param_enable_rc_loss, &rc_loss_enabled);
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
 			param_get(_param_rc_loss_timeout, &rc_loss_timeout);
 			param_get(_param_rc_in_off, &rc_in_off);
@@ -2681,11 +2684,12 @@ int commander_thread_main(int argc, char *argv[])
 		/* now set navigation state according to failsafe and main state */
 		bool nav_state_changed = set_nav_state(&status,
 						       &internal_state,
-						       (bool)datalink_loss_enabled,
+						       (datalink_loss_enabled > 0),
 						       mission_result.finished,
 						       mission_result.stay_in_failsafe,
 						       &status_flags,
-						       land_detector.landed);
+						       land_detector.landed,
+						       (rc_loss_enabled > 0));
 
 		if (status.failsafe != failsafe_old) {
 			status_changed = true;

src/modules/commander/commander_params.c

@@ -92,16 +92,6 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
 
-/**
- * Datalink loss mode enabled.
- *
- * Set to 1 to enable actions triggered when the datalink is lost.
- *
- * @group Commander
- * @boolean
- */
-PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
-
 /**
  * Datalink loss time threshold
  *

src/modules/commander/state_machine_helper.cpp

@@ -585,7 +585,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
  */
 bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
 		   const bool data_link_loss_enabled, const bool mission_finished,
-		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed)
+		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed, const bool rc_loss_enabled)
 {
 	navigation_state_t nav_state_old = status->nav_state;
 
@@ -601,7 +601,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
 	case commander_state_s::MAIN_STATE_ALTCTL:
 	case commander_state_s::MAIN_STATE_POSCTL:
 		/* require RC for all manual modes */
-		if ((status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
+		if (rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
 			status->failsafe = true;
 
 			if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {

src/modules/commander/state_machine_helper.h

@@ -112,7 +112,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 
 bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
 		   const bool data_link_loss_enabled, const bool mission_finished,
-		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed);
+		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
+		   const bool rc_loss_enabled);
 
 int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery);