Offboard lost actions with additional timeout #4655
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I like your architectural approach better than the extensions I made. What is the testing state of this - good to go from your side? |
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When do you expect to test this? |
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Today |
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Fixed the obvious errors.. but testing is difficult, my parameters get reset somehow? (#4722) |
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Rebased, tested, ready. |
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| * @group Mission | ||
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| PARAM_DEFINE_INT32(NAV_OBL_ACT, 0); |
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Why is this param defined in the navigator space if the implementation is in commander?
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Yes, well, ahm, because the others are :). You're right of course, I should already move them to the commander. Then we can also move the rest of the failsafe handling.
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I think it's ok to have a param NAV_ if the action is decided in the navigator. In this case clearly all the logic is in commander, so I don't see why it should be COM_.
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Of course, I mean moving the handling and params over to the commander, in a later PR
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Isn't it a pain to move the params later? I don't understand.
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Na I meant other ones, doesn't matter, will do later. Moved mine and rebased.
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Fixed and merged |
Reimplemented offboard lost handling from #3404
@LorenzMeier before I go ahead with this, I'd like some feedback on where the states should switch. Since my earlier version you started to add failsafe handling in the navigator (e.g. here: https://github.com/PX4/Firmware/blob/master/src/modules/navigator/navigator_main.cpp#L570), and now we have 2 places where nav state decisions happen, a duplication of responsibilities. So in contrary of how RC and DL loss got implemented on master, the state switching here is all in state_machine_helper.