Copter: Add GCS Failsafe Brake option #23832
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Braking at GCS fail would be slow. |
ArduCopter/Parameters.cpp
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| @@ -162,7 +162,7 @@ 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 | |||
| // @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:Enabled always Brake or Land | |||
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Hi, could we shorten the description to just "Brake or Land"? This makes it more consistent with the other options.
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This looks fine to me so I'm happy for us to merge once the small parameter description is done. We don't need to second guess the situation in which an operator wants to use this. I've added the EUDevCall just so that we don't forget about this PR. If the change is made before the EUDevCall we can go ahead and merge it. Thanks! |
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Merged it - thanks! |
I've added a "Brake Mode" option, which allows the copter to hover in place (in Brake Mode) if the connection to the GCS is lost while in Auto or Guided flight modes.
When conducting BVLOS operations, it is crucial to maintain control over the drone via the GCS at all times. In the event of a GCS disconnection, the drone switches to Brake mode, halting flight without GCS control. Upon reestablishing the connection, the drone can be returned to Auto mode via the GCS.
In the case where the connection does not recover, the drone will take RTL or Land actions through a battery failsafe.
This feature follows a similar implementation as in the PR #23110, which added a Brake Mode option to the Radio Failsafe.
I tested this in SITL.
