Extend COM_ARM_ODID into a unified arming + in-flight failsafe parameter (0 = Disabled, 1 = Warning, 2 = Return, 3 = Land, 4 = Terminate)
Values >= 2 block arming and trigger the configured action if Remote ID
is lost while airborne.
Detects when a rotary-wing vehicle drops more than FD_ALT_LOSS metres
below a NED-z reference while altitude control is active,
and immediately triggers flight termination (parachute deployment).
Detection (FailureDetector):
- FD_ALT_LOSS: drop threshold in metres (0 = disabled, default)
- FD_ALT_LOSS_T: hysteresis time
- Guards: rotary-wing only, altitude control active, z_valid, setpoint
fresh (<1 s). Manual, Acro and FW/VTOL-FW modes are excluded.
- Ratcheting reference: initialises to lpos.z on first sample below
setpoint, preventing false triggers on new waypoints
Failsafe action (commander):
- New fd_alt_loss flag in FailsafeFlags.msg
- COM_ALT_LOSS_ACT: -1=Disabled (default), 0=Terminate
- Terminate fires immediately, cannot be overridden, and never clears
until disarm (parachute deployment is irreversible)
To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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>
- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
gguidone
Matthias Grob
Roman Bapst
Silvan Fuhrer
bresch
Beat Küng
Daniel Agar