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Commander: add local_position_accuracy_low flag, incl. warning and RTL

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Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-27 16:04:55 +01:00
parent 3ca126cc46
commit 9b3a28dff5
7 changed files with 60 additions and 1 deletions
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ROMFS/px4fmu_common/init.d/rc.fw_defaults
+3
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@@ -19,6 +19,9 @@ param set-default COM_POS_FS_DELAY 5
param set-default COM_POS_FS_EPH 50
param set-default COM_POS_FS_EPV 30
param set-default COM_VEL_FS_EVH 5
param set-default COM_POS_LOW_EPH 50
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+2
View File
@@ -13,6 +13,8 @@ param set-default MAV_TYPE 22
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_POS_LOW_EPH 50
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10