RC_Channel: TECS propulsion failure aux func

ArduPlane/RC_Channel.cpp

@@ -140,6 +140,21 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
         }    
 }
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+void RC_Channel_Plane::do_aux_function_propulsion_failed(AuxSwitchPos ch_flag)
+{
+    switch(ch_flag) {
+    case AuxSwitchPos::HIGH:
+        plane.TECS_controller.set_propulsion_failed_flag(true);
+        break;
+    case AuxSwitchPos::MIDDLE:
+        break;
+    case AuxSwitchPos::LOW:
+        plane.TECS_controller.set_propulsion_failed_flag(false);
+        break;
+    }
+}
+#endif
 
 void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
                                          const RC_Channel::AuxSwitchPos ch_flag)
@@ -178,6 +193,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
     case AUX_FUNC::PRECISION_LOITER:
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+    case AUX_FUNC::TECS_PROP_FAILED:
+#endif
         break;
 
     case AUX_FUNC::SOARING:
@@ -448,6 +466,12 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         // handled by lua scripting, just ignore here
         break;
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+    case AUX_FUNC::TECS_PROP_FAILED:
+        do_aux_function_propulsion_failed(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduPlane/RC_Channel.h

@@ -31,6 +31,10 @@ class RC_Channel_Plane : public RC_Channel
 
     void do_aux_function_flare(AuxSwitchPos ch_flag);
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+    void do_aux_function_propulsion_failed(AuxSwitchPos ch_flag);
+#endif
+
 };
 
 class RC_Channels_Plane : public RC_Channels

Tools/scripts/build_options.py

@@ -200,6 +200,7 @@ def __init__(self,
     Feature('Plane', 'QAUTOTUNE', 'QAUTOTUNE_ENABLED', 'Enable QuadPlane Autotune mode', 0, "QUADPLANE"),
     Feature('Plane', 'PLANE_BLACKBOX', 'AP_PLANE_BLACKBOX_LOGGING', 'Enable blackbox logging', 0, None),
     Feature('Plane', 'AP_TX_TUNING', 'AP_TUNING_ENABLED', 'Enable TX-based tuning parameter adjustments', 0, None),
+    Feature('Plane', 'RC_CHANNEL_PROPULSION_FAILED', 'AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED', 'Enable RC channel for manually notifying the TECS of a propulsion failure', 0, None),  # NOQA: E501
 
     Feature('RC', 'RC_Protocol', 'AP_RCPROTOCOL_ENABLED', "Enable Serial RC Protocol support", 0, None),   # NOQA: E501
     Feature('RC', 'RC_CRSF', 'AP_RCPROTOCOL_CRSF_ENABLED', "Enable CRSF RC Protocol", 0, "RC_Protocol"),   # NOQA: E501

Tools/scripts/extract_features.py

@@ -165,6 +165,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('QAUTOTUNE_ENABLED', 'ModeQAutotune::_enter',),
             ('HAL_SOARING_ENABLED', 'SoaringController::var_info',),
             ('HAL_LANDING_DEEPSTALL_ENABLED', r'AP_Landing_Deepstall::terminate\b',),
+            ('AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED', r'RC_Channel_Plane::do_aux_function_propulsion_failed\b',),
 
             ('AP_GRIPPER_ENABLED', r'AP_Gripper::init\b',),
             ('HAL_SPRAYER_ENABLED', 'AC_Sprayer::AC_Sprayer',),

libraries/AP_Scripting/examples/fw_vtol_failsafe.lua

@@ -8,6 +8,10 @@
 -- If the aircraft drops below a predetermined minimum altitude, QLAND mode is engaged and the aircraft lands at its current position.
 -- If the aircraft arrives within Q_FW_LND_APR_RAD of the return point before dropping below the minimum altitude, it should loiter down to the minimum altitude before switching to QRTL and landing.
 
+-- constants
+local RC_OPTION = {TECS_PROP_FAILED=177}
+local AuxSwitchPos = {LOW=0, MIDDLE=1, HIGH=2}
+
 -- setup param block for VTOL failsafe params
 local PARAM_TABLE_KEY = 77
 local PARAM_TABLE_PREFIX = "VTFS_"
@@ -91,10 +95,8 @@ function trigger_failsafe()
      -- RTL_AUTOLAND
      param:set('RTL_AUTOLAND', 0)
   end
-  if param:get('TECS_SPDWEIGHT') < 2 then
-     -- force airspeed priority
-     param:set('TECS_SPDWEIGHT', 2)
-  end
+  -- tell the TECS that propulsion has failed
+  rc:run_aux_function(RC_OPTION.TECS_PROP_FAILED, AuxSwitchPos.HIGH)
   -- trigger an RTL to start bringing the vehicle home
   -- it will automatically go to the nearest rally point if set or go to home
   -- if no rally point available within the RALLY_LIMIT_KM

libraries/RC_Channel/RC_Channel.cpp

@@ -237,6 +237,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
     // @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
     // @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
+    // @Values{Plane}: 178:Set TECS Propulsion Failed
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -773,6 +774,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
     { AUX_FUNC::CAMERA_IMAGE_TRACKING, "Camera Image Tracking"},
     { AUX_FUNC::CAMERA_LENS, "Camera Lens"},
     { AUX_FUNC::MOUNT_LRF_ENABLE, "Mount LRF Enable"},
+    { AUX_FUNC::TECS_PROP_FAILED, "TECS Propulsion Failure"},
 };
 
 /* lookup the announcement for switch change */

libraries/RC_Channel/RC_Channel.h

@@ -250,6 +250,7 @@ class RC_Channel {
         CAMERA_LENS =        175, // camera lens selection
         VFWD_THR_OVERRIDE =  176, // force enabled VTOL forward throttle method
         MOUNT_LRF_ENABLE =   177,  // mount LRF enable/disable
+        TECS_PROP_FAILED =   178,   // tell the TECS controller that propulsion has failed
 
 
         // inputs from 200 will eventually used to replace RCMAP

libraries/RC_Channel/RC_Channel_config.h

@@ -9,3 +9,7 @@
 #ifndef AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
 #define AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED AP_RC_CHANNEL_ENABLED
 #endif
+
+#ifndef AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+#define AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED AP_RC_CHANNEL_ENABLED
+#endif