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Rover: add 'Loiter or Hold' as a failsafe action

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This commit is contained in:
Willian Galvani 2025-05-12 13:28:57 -03:00 committed by Peter Barker
parent dab81d0f7d
commit 5f127907ac
4 changed files with 18 additions and 2 deletions
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2
Rover/Parameters.cpp
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@ -91,7 +91,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Param: FS_ACTION
// @DisplayName: Failsafe Action
// @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold,5:Terminate
// @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold,5:Terminate,6:Loiter or Hold
// @User: Standard
GSCALAR(fs_action, "FS_ACTION", (int8_t)FailsafeAction::Hold),

3
Rover/Rover.h
View File

@ -416,7 +416,8 @@ private:
Hold = 2,
SmartRTL = 3,
SmartRTL_Hold = 4,
Terminate = 5
Terminate = 5,
Loiter_Hold = 6,
};
enum class Failsafe_Options : uint32_t {

10
Rover/failsafe.cpp
View File

@ -101,6 +101,11 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool o
set_mode(mode_hold, ModeReason::FAILSAFE);
}
break;
case FailsafeAction::Loiter_Hold:
if (!set_mode(mode_loiter, ModeReason::FAILSAFE)) {
set_mode(mode_hold, ModeReason::FAILSAFE);
}
break;
case FailsafeAction::Terminate:
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
break;
@ -127,6 +132,11 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
case FailsafeAction::Hold:
set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
break;
case FailsafeAction::Loiter_Hold:
if (!set_mode(mode_loiter, ModeReason::BATTERY_FAILSAFE)) {
set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
}
break;
case FailsafeAction::SmartRTL_Hold:
if (!set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) {
set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);

5
Rover/fence.cpp
View File

@ -67,6 +67,11 @@ void Rover::fence_check()
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
case FailsafeAction::Loiter_Hold:
if (!set_mode(mode_loiter, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
case FailsafeAction::Terminate:
arming.disarm(AP_Arming::Method::FENCEBREACH);
break;