RTH sanity checking emergency landing fix #7790
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@breadoven should we merge? |
I still haven't got around to fully flight testing this. Needs doing before merging just be sure. |
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OK, let me know when you will know more |
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OK this seems to be working as expected so good to merge. |
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Provides full fix related to #7731.
Emergency Landing due to sensor failure during RTH or WP modes auto cancels if sensors working again. Landing can also be cancelled by deselecting RTH and WP modes or selecting AltHold mode.
Emergency Landing caused by RTH Sanity Checking can be cancelled by deselecting RTH mode.
Emergency Landing can't be cancelled if Failsafe is active.
One notable change is to navProcessFSMEvents where the routines for Timeout event and Injected event have been changed and simplified with injected events processed with priority over timeout events. This was done to fix an issue where a change to the
navStatein the timeout event routine (processed first) is incorrectly switched back to thenavStateof the injected event (processed second), e.g. RTH Sanity failure switches to Emergency Landing in the timeout event but is immediately switched back to RTH in the injected event, cancelling the switch to Emergency Landing.Still needs fully testing but Emergency Landing and Nav modes appear to work as expected based on limited fixed wing and multirotor ground testing.
posControl.rthSanityChecker.initialPositionhas been removed since it appears it was never used.