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Upstream update MAV_CMD_DO_FLIGHTTERMINATION enum #263

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Upstream update MAV_CMD_DO_FLIGHTTERMINATION enum #263

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11 changes: 9 additions & 2 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -892,8 +892,15 @@
<param index="7">Empty</param>
</entry>
<entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION" hasLocation="false" isDestination="false">
<description>Terminate flight immediately</description>
<param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if &gt; 0.5</param>
<description>Terminate flight immediately.
Flight termination immediately and irreversably terminates the current flight, returning the vehicle to ground.
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ArduPilot can be configured to actually land the vehicle, not crash it.

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OK, I did not know that. Which parameter does it?

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    // @Param: TERM_ACTION
    // @DisplayName: Terminate action
    // @Description: This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
    // @User: Advanced
    AP_GROUPINFO("TERM_ACTION", 6, AP_AdvancedFailsafe, _terminate_action, 0),

with TERMINATION_ACTION_LAND

    if (_terminate_action == TERMINATE_ACTION_LAND) {
        copter.set_mode(Mode::Number::LAND, ModeReason::TERMINATE);
    } else {

The vehicle will ignore RC or other input until it has been power-cycled.
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This is simply not true for ArduPilot, and potentially a dangerous assumption to make.

Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing).
On multicopters without a parachute it may trigger a crash landing.
Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION.
Support for this command can also be tested by sending the command with param1=0 (&lt; 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.
</description>
<param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if &gt; 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.</param>
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The increment is wrong here.

<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
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