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update FS actions metadata with DO_RETURN_PATH_START
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@Hwurzburg
Hwurzburg committed Dec 16, 2024
1 parent 5b935a3 commit 8c3a726
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Showing 4 changed files with 21 additions and 11 deletions.
6 changes: 3 additions & 3 deletions ArduCopter/Parameters.cpp
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Expand Up @@ -161,7 +161,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
// @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START or RTL,7:Brake or Land
// @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Brake or Land
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),

Expand Down Expand Up @@ -225,7 +225,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START or RTL,7:Enabled always Brake or Land
// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Enabled always Brake or Land
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),

Expand Down Expand Up @@ -1044,7 +1044,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FS_DR_ENABLE
// @DisplayName: DeadReckon Failsafe Action
// @Description: Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates
// @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START or RTL
// @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
// @User: Standard
AP_GROUPINFO("FS_DR_ENABLE", 52, ParametersG2, failsafe_dr_enable, (uint8_t)Copter::FailsafeAction::RTL),

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20 changes: 15 additions & 5 deletions ArduPlane/AP_Arming.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -433,16 +433,26 @@ bool AP_Arming_Plane::mission_checks(bool report)
{
// base checks
bool ret = AP_Arming::mission_checks(report);
if (plane.g.rtl_autoland == RtlAutoland::RTL_DISABLE) {
if (plane.mission.contains_item(MAV_CMD_DO_LAND_START)) {

switch (RtlAutoland(plane.g.rtl_autoland)) {
case RtlAutoland::RTL_THEN_DO_LAND_START:
case RtlAutoland::RTL_IMMEDIATE_DO_LAND_START:
case RtlAutoland::NO_RTL_GO_AROUND:
if (!plane.mission.contains_item(MAV_CMD_DO_LAND_START)) {
ret = false;
check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled");
check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START mission item expected");
}
if (plane.mission.contains_item(MAV_CMD_DO_RETURN_PATH_START)) {
break;
case RtlAutoland::DO_RETURN_PATH_START:
if (!plane.mission.contains_item(MAV_CMD_DO_RETURN_PATH_START)) {
ret = false;
check_failed(ARMING_CHECK_MISSION, report, "DO_RETURN_PATH_START set and RTL_AUTOLAND disabled");
check_failed(ARMING_CHECK_MISSION, report, "DO_RETURN_PATH_START mission item expected");
}
break;
case RtlAutoland::RTL_DISABLE:
break;
}

#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.available()) {
const uint16_t num_commands = plane.mission.num_commands();
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2 changes: 1 addition & 1 deletion ArduPlane/Parameters.cpp
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Expand Up @@ -745,7 +745,7 @@ const AP_Param::Info Plane::var_info[] = {

// @Param: RTL_AUTOLAND
// @DisplayName: RTL auto land
// @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
// @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).If this is set to 0 and there is a DO_LAND_START or DO_RETURN_PATH_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around (see wiki for aborting autolandings) without it changing RTL behaviour.
// @Values: 0:Disable,1:Fly HOME then land via DO_LAND_START mission item, 2:Go directly to landing sequence via DO_LAND_START mission item, 3:OnlyForGoAround, 4:Go directly to landing sequence via DO_RETURN_PATH_START mission item
// @User: Standard
GSCALAR(rtl_autoland, "RTL_AUTOLAND", float(RtlAutoland::RTL_DISABLE)),
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4 changes: 2 additions & 2 deletions libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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Expand Up @@ -113,7 +113,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @DisplayName: Low battery failsafe action
// @Description: What action the vehicle should perform if it hits a low battery failsafe
// @Values{Plane}: 0:None,1:RTL,2:Land,3:Terminate,4:QLand,6:Loiter to QLand
// @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START or RTL
// @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
// @Values{Sub}: 0:None,2:Disarm,3:Enter surface mode
// @Values{Rover}: 0:None,1:RTL,2:Hold,3:SmartRTL,4:SmartRTL or Hold,5:Terminate
// @Values{Tracker}: 0:None
Expand All @@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @DisplayName: Critical battery failsafe action
// @Description: What action the vehicle should perform if it hits a critical battery failsafe
// @Values{Plane}: 0:None,1:RTL,2:Land,3:Terminate,4:QLand,5:Parachute,6:Loiter to QLand
// @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START or RTL
// @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
// @Values{Sub}: 0:None,2:Disarm,3:Enter surface mode
// @Values{Rover}: 0:None,1:RTL,2:Hold,3:SmartRTL,4:SmartRTL or Hold,5:Terminate
// @Values{Tracker}: 0:None
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