set RemoteID status to Emergency if vehicle is lost #22448
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You could check if the parachute has deployed. Advanced failsafe also has the option to terminate the vehicle. |
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AP_HAL::panic method rules infinitely. |
Added.
@muramura I did check the panic methods in the AP_HAL library. So far they are only triggered in an init function or in a simulation function. Therefore I have not added this to the emergency check. |
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added the Advanced failsafe and use the internal fault_type to cover the AP_HAL::panic. |
| uint8_t uav_status = hal.util->get_soft_armed()? MAV_ODID_STATUS_AIRBORNE : MAV_ODID_STATUS_GROUND; | ||
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| //check if there are conditions that make AP uncontrollable. If so set location to emergency status | ||
| if (AP_Notify::flags.vehicle_lost == true || AP_Notify::flags.parachute_release == 1) { |
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better to ask the parachute subsystem directly
| } | ||
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| //if advanced failsafe is enabled and it wants to crash the UA, set Remote ID to emergency status | ||
| #ifdef ADVANCED_FAILSAFE |
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this ifdef doesn't work as the define is at the vehicle level
According to the FAA MoC, the drone should set the location status to emergency in case of Uncontrolled descent or loss of control. See also ArduPilot/ArduRemoteID#34
In this PR, the location status is set to emergency when the vehicle is set to vehicle_lost. Not sure if there are other emergency cases in which we also need to set the location status to emergency.
@tridge