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2a0a4ac3e2
Detects when a rotary-wing vehicle drops more than FD_ALT_LOSS metres below a NED-z reference while altitude control is active, and immediately triggers flight termination (parachute deployment). Detection (FailureDetector): - FD_ALT_LOSS: drop threshold in metres (0 = disabled, default) - FD_ALT_LOSS_T: hysteresis time - Guards: rotary-wing only, altitude control active, z_valid, setpoint fresh (<1 s). Manual, Acro and FW/VTOL-FW modes are excluded. - Ratcheting reference: initialises to lpos.z on first sample below setpoint, preventing false triggers on new waypoints Failsafe action (commander): - New fd_alt_loss flag in FailsafeFlags.msg - COM_ALT_LOSS_ACT: -1=Disabled (default), 0=Terminate - Terminate fires immediately, cannot be overridden, and never clears until disarm (parachute deployment is irreversible)