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Add descend mode as a failsafe. #23839

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Add descend mode as a failsafe. #23839

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16 changes: 14 additions & 2 deletions src/modules/commander/commander_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -271,6 +271,9 @@ PARAM_DEFINE_INT32(COM_DISARM_MAN, 1);
* @value 0 Warning
* @value 2 Land mode
* @value 3 Return at critical level, land at emergency level
* @value 4 Descend mode
* @min 0
* @max 4
*/
PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);

Expand Down Expand Up @@ -304,6 +307,7 @@ PARAM_DEFINE_FLOAT(COM_FAIL_ACT_T, 5.f);
* @value 0 Warning
* @value 1 Return
* @value 2 Land
* @value 3 Descend
* @increment 1
*/
PARAM_DEFINE_INT32(COM_IMB_PROP_ACT, 0);
Expand All @@ -328,6 +332,7 @@ PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 1.0f);
* @value 0 Return mode
* @value 1 Land mode
* @value 2 Hold mode
* @value 3 Descend mode
* @group Commander
*/
PARAM_DEFINE_INT32(COM_QC_ACT, 0);
Expand All @@ -346,6 +351,9 @@ PARAM_DEFINE_INT32(COM_QC_ACT, 0);
* @value 5 Hold mode
* @value 6 Terminate
* @value 7 Disarm
* @value 8 Descend
* @min 0
* @max 8
* @group Commander
*/
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
Expand Down Expand Up @@ -596,8 +604,9 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
* @value 3 Land mode
* @value 5 Terminate
* @value 6 Disarm
* @value 7 Descend
* @min 0
* @max 6
* @max 7
*
* @group Commander
*/
Expand All @@ -615,8 +624,9 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
* @value 3 Land mode
* @value 5 Terminate
* @value 6 Disarm
* @value 7 Descend
* @min 1
* @max 6
* @max 7
*
* @group Commander
*/
Expand Down Expand Up @@ -649,6 +659,7 @@ PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
* @value 2 Land mode
* @value 3 Return mode
* @value 4 Terminate
* @value 5 Descend
* @group Commander
*/
PARAM_DEFINE_INT32(COM_ACT_FAIL_ACT, 0);
Expand Down Expand Up @@ -923,6 +934,7 @@ PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f);
* @value 3 Return
* @value 4 Terminate
* @value 5 Land
* @value 6 Descend
* @increment 1
*/
PARAM_DEFINE_INT32(COM_WIND_MAX_ACT, 0);
Expand Down
42 changes: 42 additions & 0 deletions src/modules/commander/failsafe/failsafe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,11 @@ FailsafeBase::ActionOptions Failsafe::fromNavDllOrRclActParam(int param_value)
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case gcs_connection_loss_failsafe_mode::Descend:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case gcs_connection_loss_failsafe_mode::Terminate:
options.allow_user_takeover = UserTakeoverAllowed::Never;
options.action = Action::Terminate;
Expand Down Expand Up @@ -117,6 +122,11 @@ FailsafeBase::ActionOptions Failsafe::fromGfActParam(int param_value)
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case geofence_violation_action::Descend_mode:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

default:
options.action = Action::Warn;
break;
Expand Down Expand Up @@ -148,6 +158,11 @@ FailsafeBase::ActionOptions Failsafe::fromImbalancedPropActParam(int param_value
options.action = Action::Land;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case imbalanced_propeller_failsafe_mode::Descend:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;
}

return options;
Expand All @@ -172,6 +187,11 @@ FailsafeBase::ActionOptions Failsafe::fromActuatorFailureActParam(int param_valu
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case actuator_failure_failsafe_mode::Descend_mode:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case actuator_failure_failsafe_mode::Return_mode:
options.action = Action::RTL;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
Expand Down Expand Up @@ -211,6 +231,10 @@ FailsafeBase::ActionOptions Failsafe::fromBatteryWarningActParam(int param_value
options.action = Action::RTL;
break;

case LowBatteryAction::Descend:
options.action = Action::Descend;
break;

case LowBatteryAction::Land:
options.action = Action::Land;
break;
Expand All @@ -231,6 +255,10 @@ FailsafeBase::ActionOptions Failsafe::fromBatteryWarningActParam(int param_value
options.action = Action::RTL;
break;

case LowBatteryAction::Descend:
options.action = Action::Descend;
break;

case LowBatteryAction::ReturnOrLand:
case LowBatteryAction::Land:
options.action = Action::Land;
Expand Down Expand Up @@ -267,6 +295,11 @@ FailsafeBase::ActionOptions Failsafe::fromQuadchuteActParam(int param_value)
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case command_after_quadchute::Descend_mode:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case command_after_quadchute::Hold_mode:
options.action = Action::Hold;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
Expand Down Expand Up @@ -307,6 +340,10 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
break;

case offboard_loss_failsafe_mode::Descend:
action = Action::Descend;
break;

case offboard_loss_failsafe_mode::Hold_mode:
action = Action::Hold;
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
Expand Down Expand Up @@ -360,6 +397,11 @@ FailsafeBase::ActionOptions Failsafe::fromHighWindLimitActParam(int param_value)
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

case command_after_high_wind_failsafe::Descend:
options.action = Action::Descend;
options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
break;

default:
options.action = Action::Warn;
break;
Expand Down
12 changes: 10 additions & 2 deletions src/modules/commander/failsafe/failsafe.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,8 @@ class Failsafe : public FailsafeBase
Warning = 0, // Warning
Return = 1, // Return mode (deprecated)
Land = 2, // Land mode
ReturnOrLand = 3 // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
ReturnOrLand = 3, // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
Descend = 4, // Land without using position
};

enum class offboard_loss_failsafe_mode : int32_t {
Expand All @@ -76,6 +77,7 @@ class Failsafe : public FailsafeBase
Hold_mode = 5,
Terminate = 6,
Disarm = 7,
Descend = 8,
};

enum class position_control_navigation_loss_response : int32_t {
Expand All @@ -89,13 +91,15 @@ class Failsafe : public FailsafeBase
Land_mode = 2,
Return_mode = 3,
Terminate = 4,
Descend_mode = 5,
};

enum class imbalanced_propeller_failsafe_mode : int32_t {
Disabled = -1,
Warning = 0,
Return = 1,
Land = 2,
Descend = 3,
};

enum class geofence_violation_action : int32_t {
Expand All @@ -105,6 +109,7 @@ class Failsafe : public FailsafeBase
Return_mode = 3,
Terminate = 4,
Land_mode = 5,
Descend_mode = 6,
};

enum class gcs_connection_loss_failsafe_mode : int32_t {
Expand All @@ -114,13 +119,15 @@ class Failsafe : public FailsafeBase
Land_mode = 3,
Terminate = 5,
Disarm = 6,
Descend = 7,
};

enum class command_after_quadchute : int32_t {
Warning_only = -1,
Return_mode = 0,
Land_mode = 1,
Hold_mode = 2,
Descend_mode = 3,
};

// COM_RC_IN_MODE parameter values
Expand All @@ -138,7 +145,8 @@ class Failsafe : public FailsafeBase
Hold_mode = 2,
Return_mode = 3,
Terminate = 4,
Land_mode = 5
Land_mode = 5,
Descend = 6,
};

enum class command_after_remaining_flight_time_low : int32_t {
Expand Down
1 change: 1 addition & 0 deletions src/modules/navigator/geofence_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@
* @value 3 Return mode
* @value 4 Terminate
* @value 5 Land mode
* @value 6 Descend mode
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ACTION, 2);
Expand Down
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