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fix(commander): add warning-only mode to COM_PARACHUTE (#27903)

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This commit is contained in:
Anil Kircaliali
2026-07-22 20:37:34 -07:00
committed by Claudio Chies
parent b727fe527a
commit d204b27646
6 changed files with 24 additions and 14 deletions
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2
docs/en/config/safety.md
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@@ -304,7 +304,7 @@ The parachute health failsafe is triggered when a [MAVLink parachute](../periphe
| Parameter | Description |
| -------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.<br>`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: [Return](#act_return), `3`: [Land](#act_land).<br><br>- Everything but `Disabled` prevents arming with a failing check.<br>- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. |
| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.<br>`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: Error, `3`: [Return](#act_return), `4`: [Land](#act_land).<br><br>- `Warning` warns with a failing check but does not prevent arming.<br>- `Error`, `Return` and `Land` prevent arming with a failing check.<br>- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. |
## Quad-chute Failsafe

2
docs/en/releases/1.18.md
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@@ -180,7 +180,7 @@ For users upgrading from v1.17, please take a moment to review the following bef
## Safety
- Rotary-wing vehicles now support uncommanded altitude loss detection: if the vehicle descends more than [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) meters below its setpoint in altitude-controlled flight, flight termination (and parachute deployment) is triggered. See [Altitude Loss Trigger](../config/safety.md#altitude-loss-trigger). ([PX4-Autopilot#26837](https://github.com/PX4/PX4-Autopilot/pull/26837))
- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable in-flight failsafe action (Return or Land) parameter. The previously enabled value `COM_PARACHUTE=1` causes a warning like before. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable arming check and in-flight failsafe action parameter (Warning, Error, Return, or Land). The previously enabled value `COM_PARACHUTE=1` (Warning) now only warns without preventing arming; use `COM_PARACHUTE=2` (Error) or higher to prevent arming when the parachute system is missing or unhealthy. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
- [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new failsafe that monitors the number of usable GNSS receivers with a 3D fix and their position consistency. The required number of receivers is set via [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) and the failsafe action via [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
- New companion computer over-temperature warning: [COM_CC_TEMP_WARN](../advanced_config/parameter_reference.md#COM_CC_TEMP_WARN) (default `80` C, set `-1` to disable) raises a warning when the reported companion computer temperature exceeds the threshold. ([PX4-Autopilot#27637](https://github.com/PX4/PX4-Autopilot/pull/27637))
- New ESC over-temperature warning: [COM_ESC_OT_WARN](../advanced_config/parameter_reference.md#COM_ESC_OT_WARN) (default `90` C, set `-1` to disable) raises a warning when a reported ESC temperature exceeds the threshold. ([PX4-Autopilot#27626](https://github.com/PX4/PX4-Autopilot/pull/27626))

17
src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
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@@ -41,6 +41,11 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
reporter.failsafeFlags().parachute_unhealthy = !context.status().parachute_system_present || !context.status().parachute_system_healthy;
// COM_PARACHUTE 1 (Warning) only warns, higher values also prevent arming
const bool is_error = _param_com_parachute.get() >= 2;
const NavModes affected_modes = is_error ? NavModes::All : NavModes::None;
const events::Log log_level = is_error ? events::Log::Error : events::Log::Warning;
if (!context.status().parachute_system_present) {
/* EVENT
* @description
@@ -50,10 +55,10 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
* Configured by <param>COM_PARACHUTE</param>
* </profile>
*/
reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_missing"),
events::Log::Error, "Parachute system missing");
reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_missing"),
log_level, "Parachute system missing");
if (reporter.mavlink_log_pub()) {
if (reporter.mavlink_log_pub() && is_error) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system missing");
}
@@ -67,10 +72,10 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
* Configured by <param>COM_PARACHUTE</param>
* </profile>
*/
reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
events::Log::Error, "Parachute system not ready");
reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
log_level, "Parachute system not ready");
if (reporter.mavlink_log_pub()) {
if (reporter.mavlink_log_pub() && is_error) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system not ready");
}
}

11
src/modules/commander/commander_params.yaml
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@@ -482,12 +482,15 @@ parameters:
short: Parachute requirement and failsafe
long: |-
Require a MAVLink parachute system for arming and the failsafe action when missing or unhealthy.
Warning only warns without preventing arming. Actions other than Warning also prevent arming.
type: enum
values:
0: Disabled
1: Warning
2: Return
3: Land
2: Error
3: Return
4: Land
default: 0
COM_ARM_CHK_ESCS:
description:
@@ -606,8 +609,8 @@ parameters:
description:
short: Companion computer high-temperature warning threshold
long: |-
Arming is not prevented as the temperature typically drops in flight.
Set to -1 to disable.

1
src/modules/commander/failsafe/failsafe.cpp
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@@ -425,6 +425,7 @@ FailsafeBase::ActionOptions Failsafe::fromParachuteActParam(int param_value)
break;
case parachute_unhealthy_failsafe_mode::Warning:
case parachute_unhealthy_failsafe_mode::Error:
options.action = Action::Warn;
options.clear_condition = ClearCondition::WhenConditionClears;
break;

5
src/modules/commander/failsafe/failsafe.h
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@@ -163,8 +163,9 @@ private:
enum class parachute_unhealthy_failsafe_mode : int32_t {
Disabled = 0,
Warning = 1,
Return = 2,
Land = 3,
Error = 2,
Return = 3,
Land = 4,
};
enum class gps_redundancy_failsafe_mode : int32_t {