Position Controller Failsafe Improvment #13130
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See issue #12307 Since commander should still handle all failsafes we should only run into this case as last resort to not crash. If all failsafe actions are disabled but data is missing e.g. RC loss action disabled but flying in manual and no RC this can be tested.
This was referenced Oct 8, 2019
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julianoes
approved these changes
Oct 14, 2019
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Describe problem solved by the proposed pull request
Presumably fixes #12307
@julianoes @RyanHurst Can you please check if that produces the desired behavior?
In my quick SITL tests it worked fine.
Test data / coverage
SITL testing enabling disabling virtual joystick in QGC to simulate RC loss.
Describe your preferred solution
Since commander should still handle all failsafes we should only run into this case as last resort to not crash. If all failsafe actions are disabled but data is missing e.g. RC loss action disabled but flying in manual and no RC this can be tested. I'm not saying this will cover all cases but it's a step in the right direction and hopefully solves the current problem.
Additional context
#13125 is an alternative solution to #12307 but I don't consider it future proof since it just starts ignoring RC loss presuming the implementation using RC will do the right thing even without any useful data available.