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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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docs/en/config/safety.md
+3 -3
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@@ -121,8 +121,8 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_
![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png) ![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png)
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [RC Loss timeout](#COM_RC_LOSS_T). The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable the RC loss failsafe in specific automatic modes (mission, hold, offboard) can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT). Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
Additional (and underlying) parameter settings are shown below. Additional (and underlying) parameter settings are shown below.
@@ -131,7 +131,7 @@ Additional (and underlying) parameter settings are shown below.
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the old manual control setpoint until the timeout triggers. | | <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the old manual control setpoint until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. | | <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Failsafe Action | Disabled, Loiter, Return, Land, Disarm, Terminate. | | <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Failsafe Action | Disabled, Loiter, Return, Land, Disarm, Terminate. |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions | Set the modes in which manual control loss is ignored: Mission, Hold, Offboard. | | <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions | Set the modes in which manual control loss is ignored. |
## Data Link Loss Failsafe ## Data Link Loss Failsafe
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. * Specify modes where manual control loss is ignored and no failsafe is triggered.
* External modes requiring stick input will still failsafe. * External modes requiring stick input will still failsafe.
* Auto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.
* *
* @min 0 * @min 0
* @max 31 * @max 31
* @bit 0 Mission * @bit 0 Mission
* @bit 1 Hold * @bit 1 Auto modes
* @bit 2 Offboard * @bit 2 Offboard
* @bit 3 External Mode * @bit 3 External Mode
* @bit 4 Altitude Cruise * @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 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); && (_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 const bool rc_loss_ignored_offboard = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::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 == const bool rc_loss_ignored_altitude_cruise = (state.user_intended_mode ==
vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::AltitudeCruise)); && (_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) state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL8)
&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::ExternalMode); && (_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 || const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_auto_modes || rc_loss_ignored_offboard ||
rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
|| _manual_control_lost_at_arming || rc_loss_ignored_altitude_cruise; || _manual_control_lost_at_arming || rc_loss_ignored_altitude_cruise;
if (_param_com_rc_in_mode.get() != int32_t(RcInMode::DisableManualControl) && !rc_loss_ignored) { 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 { enum class ManualControlLossExceptionBits : int32_t {
Mission = (1 << 0), Mission = (1 << 0),
Hold = (1 << 1), AutoModes = (1 << 1),
Offboard = (1 << 2), Offboard = (1 << 2),
ExternalMode = (1 << 3), ExternalMode = (1 << 3),
AltitudeCruise = (1 << 4) AltitudeCruise = (1 << 4)