Add descend mode as a failsafe.

The land mode supposes we have a GPS causing issues when flying with a local position (such as mocap or vision) This adds the alternative to use the descend mode.
PX4 · Oct 22, 2024 · a2bee4b · a2bee4b
1 parent 4d4c5ef
commit a2bee4b
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Showing 4 changed files with 68 additions and 4 deletions.
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
@@ -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);
 
@@ -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);
@@ -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);
@@ -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);
@@ -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
  */
@@ -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
  */
@@ -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);
@@ -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);

diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
@@ -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;
@@ -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;
@@ -150,6 +160,12 @@ FailsafeBase::ActionOptions Failsafe::fromImbalancedPropActParam(int param_value
  break;
  }
 
+ case imbalanced_propeller_failsafe_mode::Descend:
+ options.action = Action::Descend;
+ options.clear_condition = ClearCondition::OnModeChangeOrDisarm;
+ break;
+ }
+
  return options;
 }
 
@@ -172,6 +188,11 @@ 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;
@@ -211,6 +232,10 @@ 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;
@@ -231,6 +256,10 @@ 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;
@@ -267,6 +296,11 @@ 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;
@@ -307,6 +341,11 @@ 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;
@@ -360,6 +399,10 @@ 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;

diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
@@ -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 {
@@ -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 {
@@ -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 {
@@ -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 {
@@ -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,
+ Desend_mode = 3,
  };
 
  // COM_RC_IN_MODE parameter values
@@ -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 {

diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
@@ -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);