Commander: expose failsafe action for low position estimation accuracy as parameter #23939
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…eter Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
… to fix reporting Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
bresch
approved these changes
Nov 15, 2024
dagar
approved these changes
Nov 15, 2024
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Solved Problem
It is currently hard-coded that when breaching the EPH specified in
COM_POS_LOW_EPHit will RTL. It is desirable to have this action customizable, e.g. to warning only or to Land.Solution
Introduce new param COM_POS_LOW_ACT, same options as for the high wind failsafe (
COM_WIND_MAX_ACT).Changelog Entry
For release notes:
Test coverage
SITL tested.
Context
Note that more and more this "low position accuracy" failsafe replaces the hard failsafe with
COM_POS_FS_EPH, where it switches out of a position controlled mode. In most cases it is better to keep flying in position controlled manner as long as the notification to the operator is there.