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feat(commander): add failsafe for traffic avoidance system (#27887)

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* feat(commander): add traffic avoidance system failsafe

* test(commander): add tests for traffic avoidance failsafe

* docs(parameters): add COM_ARM_TRAFF migration notes

* fix(failsafe): use a shared header instead of hard-coding enum literals

* fix(commander): clear stale traffic avoidance unhealthy flag when check disabled

* refactor(failsafe): rename failsafe_mode_params.h to failsafe_action_modes.h

* docs(adsb_flarm): fix formatting in traffic avoidance parameter table

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Co-authored-by: Claudio Chies <chiesc@chies.com>
This commit is contained in:
Anil Kircaliali
2026-07-23 13:26:11 -07:00
committed by GitHub
parent b14e63019b
commit 03bf4a5e95
16 changed files with 353 additions and 38 deletions
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docs/en/advanced_features/detect_and_avoid.md
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@@ -409,7 +409,7 @@ That means DAA will not automatically switch a manually flown vehicle into Hold,
The commander health check reads [`detect_and_avoid_most_urgent`](../msg_docs/DetectAndAvoidMostUrgent.md) and applies the result only while the vehicle is disarmed.
This section covers conflict-based DAA behavior when traffic is already present.
The separate traffic-system-presence arming check is configured by [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) and described in [ADS-B/FLARM/UTM Receivers > Arming Check](../peripherals/adsb_flarm.md#arming-check).
The separate traffic-system-presence arming check and failsafe is configured by [COM_TRAFF_AVOID](../advanced_config/parameter_reference.md#COM_TRAFF_AVOID) and described in [ADS-B/FLARM/UTM Receivers > Arming Check and Failsafe](../peripherals/adsb_flarm.md#arming-check-and-failsafe).
Preflight behavior: