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

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Sep 6, 2023
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AP_AdvancedFailsafe: option to continue the mission even after data link is recovered #23334

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11 changes: 11 additions & 0 deletions libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,12 @@ const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
// @User: Advanced
// @Units: km
AP_GROUPINFO("MAX_RANGE", 20, AP_AdvancedFailsafe, _max_range_km, 0),

// @Param: OPTIONS
// @DisplayName: AFS options
// @Description: See description for each bitmask bit description
// @Bitmask: 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)
AP_GROUPINFO("OPTIONS", 21, AP_AdvancedFailsafe, options, 0),

AP_GROUPEND
};
Expand Down Expand Up @@ -277,6 +283,11 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
} else if (gcs_link_ok) {
_state = STATE_AUTO;
gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GCS now OK");

if (option_is_set(Option::CONTINUE_AFTER_RECOVERED)) {
break;
}

// we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
if (_saved_wp != 0 &&
(_max_comms_loss <= 0 ||
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8 changes: 8 additions & 0 deletions libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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Expand Up @@ -162,6 +162,14 @@ class AP_AdvancedFailsafe

// update maximum range check
void max_range_update();

AP_Int16 options;
enum class Option {
CONTINUE_AFTER_RECOVERED = (1U<<0),
};
bool option_is_set(Option option) const {
return (options.get() & int16_t(option)) != 0;
}
};

namespace AP {
Expand Down