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state_machine_helper: react on link losses during takeoff

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The same way like in loiter. This should be further unified in the code
but at least we can increase safety in the case the takeoff altitude is
very high and the vehicle never reaches it but looses links.
This commit is contained in:
Matthias Grob
2021-06-21 13:56:53 +02:00
parent 11556d4e9a
commit bec9eef5b0
1 changed files with 28 additions and 0 deletions
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28
src/modules/commander/state_machine_helper.cpp
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@@ -694,6 +694,34 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) { } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state // nothing to do - everything done in check_invalid_pos_nav_state
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status_flags.rc_signal_found_once && is_armed && !landed) {
// RC link lost, rc loss not disabled in loiter, RC was used before -> RC loss reaction after delay
// Safety pilot expects to be able to take over by RC in case anything unexpected happens
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else if (status.rc_signal_lost && (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, all link loss reactions disabled -> return
// Pilot disabled all reactions, return to avoid lost vehicle
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, 0);
} else { } else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF; status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;