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ArgenTech: engine-out: if engine dies low, qland #2

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Apr 25, 2024
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ArgenTech: engine-out: if engine dies low, qland #2

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39 changes: 23 additions & 16 deletions libraries/AP_Scripting/applets/engine_out.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -261,22 +261,6 @@ local function check_engine()
-- Otherwise, the engine is definitely not running
set_engine_state(true)
end

local function do_engine_failsafe()
--[[
Trigger the RTL upon engine failure. This includes reconfiguring some
parameters. This should only be called once to initiate the failsafe.
--]]

-- We don't want to do the mission based autoland, so disable RTL_AUTOLAND
engineFailsafeParamGroup:set_parameter("RTL_AUTOLAND", 0)
-- We don't want any automatic QRTL behavior
engineFailsafeParamGroup:set_parameter("Q_RTL_MODE", 0)

-- Trigger an RTL to start bringing the vehicle or to the nearest rally point
-- if set or go to home if no rally point available within the RALLY_LIMIT_KM
vehicle:set_mode(MODE_RTL)
end

local function switch_qland(reason)
--[[
Expand Down Expand Up @@ -307,6 +291,29 @@ local function switch_qrtl(reason)
vehicle:set_mode(MODE_QRTL)
end

local function do_engine_failsafe()
--[[
Trigger the RTL upon engine failure. This includes reconfiguring some
parameters. This should only be called once to initiate the failsafe.
--]]

-- We don't want to do the mission based autoland, so disable RTL_AUTOLAND
engineFailsafeParamGroup:set_parameter("RTL_AUTOLAND", 0)
-- We don't want any automatic QRTL behavior
engineFailsafeParamGroup:set_parameter("Q_RTL_MODE", 0)

-- If we are already low, then RTL is a bad idea. Instead, switch to QLand
local height_agl = utilities.relative_ground_altitude(true, true)
if height_agl and height_agl < Q_RTL_ALT:get() then
switch_qland("Engine out and below minimum altitude")
return
end

-- Trigger an RTL to start bringing the vehicle or to the nearest rally point
-- if set or go to home if no rally point available within the RALLY_LIMIT_KM
vehicle:set_mode(MODE_RTL)
end

local function reset_target_alt()
--[[
Reset the target altitude to Q_RTL_ALT, and set it to the terrain altitude
Expand Down
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