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AP_AdvancedFailsafe: option to continue the mission even after data link is recovered #23334

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merged 1 commit into from
Sep 6, 2023
Merged

AP_AdvancedFailsafe: option to continue the mission even after data link is recovered #23334

merged 1 commit into from
Sep 6, 2023

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eppravitra
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AP_AdvancedFailsafe: option to continue the mission even after data link is recovered

When set MAX_COM_LOSS to a negative number, the aircraft will continue to fly the mission even after data link is recovered. This is useful when the landing sequence is part of the flight plan.

@eppravitra eppravitra mentioned this pull request Aug 24, 2023
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peterbarker
peterbarker requested changes Aug 24, 2023
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Marking for DevCallTopic. Commit list needs cleaning up.

We also should have an autotest for this functionality.

@Hwurzburg Hwurzburg added the WikiNeeded needs wiki update label Aug 24, 2023
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In general i'm not a fan of negative parameter values changing behavior, Maybe we could add a new options bitmask parameter.

tridge
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a bit in a new AFS_OPTIONS bitmask would be best

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eppravitra commented Aug 29, 2023 •
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@tridge @IamPete1 AFS_OPTIONS is now added as you guys suggested.

@peterbarker This is my first PR ever. I think I got the commit list corrected now.

@eppravitra eppravitra mentioned this pull request Aug 29, 2023
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AP_AdvancedFailsafe: option to continue the mission even after data link is recovered

When set MAX_COM_LOSS to a negative number, the aircraft will continue to fly the mission even after data link is recovered. This is useful when the landing sequence is part of the flight plan.

In the most recent changes, a negative number is not used anymore. Instead, AFS_OPTIONS is now added.

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tridge commented Aug 31, 2023

looks good, @IamPete1 ?

@tridge tridge requested a review from peterbarker September 1, 2023 00:33
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tridge commented Sep 1, 2023

@peterbarker can you re-review?

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A few stylistic things (and one thing we think might be important on some platforms...), but it's good enough for merge.

Thanks!

libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp Outdated Show resolved Hide resolved
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp Outdated Show resolved Hide resolved
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.... also, you're the only people on the planet running this code. While we're really careful about changes in general (and very careful in AdvancedFailsafe!), this code is completely untested except by you. If it breaks in master, you may not realise it until it doesn't work when you really need it to.

This is why we have an autotest suite. If you care enough about the feature to add it, you should probably care enough about it that it continues to function in the future, which is what regression tests are for.

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@peterbarker I accepted your changes, changed the semantics of the enum, and squashed all those changes. I think everything is good for a merge.

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@eppravitra looks like something went badly wrong with github infrastructure for CI for this. I've rebased this on master and force-pushed to get CI to run again.

@eppravitra @peterbarker
AP_AdvancedFailsafe: option to continue the mission even after data l…
4501a84 
…ink is recovered

This feature is useful when the landing sequence is part of the flight plan. New parameter AFS_OPTIONS was added.

Update libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp

Co-authored-by: Peter Barker <[email protected]>
Update libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h

Co-authored-by: Peter Barker <[email protected]>
enum convention changed
@peterbarker peterbarker merged commit 1372e48 into ArduPilot:master Sep 6, 2023
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Merged, thanks!

@eppravitra eppravitra deleted the afs-improvement2 branch September 6, 2023 14:55
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@Hwurzburg
Please see the proposed wiki change
ArduPilot/ardupilot_wiki#5424

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@Ryanf55 Ryanf55 Ryanf55 left review comments

@peterbarker peterbarker peterbarker approved these changes

@tridge tridge tridge approved these changes

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@eppravitra @IamPete1 @tridge @peterbarker @Ryanf55 @CraigElder @Hwurzburg