ArduPilot
Add GCS::Option::TIMESYNC_BASED_FAILSAFE
This allows you to run your GCS failsafe off responses to your TIMESYNC reqests, rather than the receipt of heartbeats (or manual control messages).
This ensures you have a two-way link between vehicle and GCS.
Built on top of previous PR
@peterbarker interesting idea! With a fixed 1Hz rate I suspect this will trigger failsafe quite often if you have a significant degree of packet loss. We could do some modelling of that, or simulation
@peterbarker interesting idea! With a fixed 1Hz rate I suspect this will trigger failsafe quite often if you have a significant degree of packet loss. We could do some modelling of that, or simulation
Yes, that's exactly what happened in testing - which is why I increased the rate to 10Hz "magically" in this PR when you enable the feature :-)
Well, we have an autotest - thanks claude. Only took about 5 times as long to write it as it would if I'd done without you!
Still, we're learning.
I don't think this is worth a gating define. You can slice things too thinly. OTOH, it will be a pretty rarely used feature, soooo....
Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub
CubeOrange-periph-heavy 96 *
Durandal 112 * 304 296 144 112 104
Hitec-Airspeed * *
KakuteH7-bdshot 96 * 112 112 176 104 104
MatekF405 96 * 88 112 32 112 48
Pixhawk1-1M-bdshot 88 72 96 104 104 112
f103-QiotekPeriph * *
f303-Universal * *
iomcu *
revo-mini 104 * 96 104 80 104 104
skyviper-v2450 96