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feat(commander): add NAV_RCL_ACT 7 (Hold without failsafe) (#27792)

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Signed-off-by: Silvan <silvan@auterion.com>
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Silvan Fuhrer
2026-07-02 14:42:34 +02:00
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parent 994dec2c41
commit 7cb2ac28ba
6 changed files with 61 additions and 2 deletions
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docs/en/config/safety.md
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@@ -128,9 +128,18 @@ Additional (and underlying) parameter settings are shown below.
| ----------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Failsafe Action | Disabled, Loiter, Return, Land, Disarm, Terminate. |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Failsafe Action | Disabled, Loiter, Return, Land, Disarm, Terminate, Hold mode (no failsafe). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions | Set modes in which manual control loss is ignored. |
### Hold Mode (No Failsafe)
The `Hold mode (no failsafe)` action (`NAV_RCL_ACT = 7`) is a special case that does _not_ enter the failsafe.
Instead, if manual control is lost while actively flying a manual mode (such as Position, Altitude, or Stabilized), the vehicle switches to [Hold mode](../flight_modes_mc/hold.md) as if the user had commanded it: there is no failsafe state and no alarming failsafe notification.
This is intended for operations where a switch to Hold on manual control loss is expected and should not be surfaced as a failsafe (for example when operating multiple drones with one GCS).
If Hold cannot be entered (for example without a valid position estimate), the normal failsafe takes over and escalates from there (Return, Land, Descend, or Terminate as applicable).
Manual control loss in any non-manual (auto/offboard) mode is ignored with this setting.
## Data Link Loss Failsafe
The Data Link Loss failsafe is triggered if the connection to the last MAVLink ground station like QGroundControl is lost.