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feat(commander): add failsafe for traffic avoidance system#27887

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ak/feat-traff-avoid-failsafe
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feat(commander): add failsafe for traffic avoidance system#27887
anilkir wants to merge 2 commits into
mainfrom
ak/feat-traff-avoid-failsafe

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@anilkir anilkir commented Jul 13, 2026

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Solved Problem

COM_ARM_TRAFF only ever gated arming. It didn't have a way to trigger an in-flight failsafe (Warn/RTL/Land) if a previously-detected ADS-B/FLARM traffic avoidance system stopped reporting mid-flight.

Solution

Replaced COM_ARM_TRAFF with COM_TRAFF_AVOID, a single parameter that drives both the arming check and a new in-flight failsafe. Adds traffic_avoidance_unhealthy to FailsafeFlags.msg, wires Failsafe::fromTrafficAvoidanceActParam() in failsafe.cpp/.h, updates trafficAvoidanceCheck.cpp to report both the health/arming result and the failsafe flag, and migrates existing COM_ARM_TRAFF values via param_translation.cpp. Unit tests cover both the health-check boundary (arming block at value 2) and the failsafe action mapping (all 5 values).

  • Value: 0, Arming: Allowed, In-flight-action: None
  • Value: 1, Arming: Allowed, In-flight-action: Warn
  • Value: 2, Arming: Blocked, In-flight-action: Warn
  • Value: 3, Arming: Blocked, In-flight-action: RTL
  • Value: 4, Arming: Blocked, In-flight-action: Land

Changelog Entry

For release notes:

Feature: Traffic avoidance (ADS-B/FLARM) system loss now triggers a configurable in-flight failsafe (Warn/RTL/Land), not just an arming check.
New parameter: COM_TRAFF_AVOID (replaces COM_ARM_TRAFF, migrated automatically on upgrade)
Documentation: docs/en/peripherals/adsb_flarm.md updated with the new parameter table.

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@anilkir anilkir self-assigned this Jul 13, 2026
@github-actions github-actions Bot added kind:test Adds or improves tests. scope:commander Arming, modes, failsafe, health checks, or vehicle state. scope:uorb uORB messages, generated interfaces, or message translation. scope:parameters Parameter definitions, metadata, migration, or defaults. scope:testing Unit, integration, fuzzing, or test data. scope:docs labels Jul 13, 2026
@anilkir anilkir changed the title Ak/feat traff avoid failsafe feat(commander): add failsafe for traffic avoidance system Jul 13, 2026
@github-actions github-actions Bot added the kind:feature Request or change that adds new functionality. label Jul 13, 2026
@anilkir anilkir requested a review from MaEtUgR July 13, 2026 23:22
@github-actions

github-actions Bot commented Jul 13, 2026 •
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🔎 FLASH Analysis

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Updated: 2026-07-14T21:23:15

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github-actions Bot commented Jul 13, 2026

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No broken links found in changed files.

@dakejahl dakejahl requested a review from JonasPerolini July 13, 2026 23:43
@anilkir anilkir force-pushed the ak/feat-traff-avoid-failsafe branch from 42a54c0 to 25a96de Compare July 14, 2026 21:16
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kind:feature Request or change that adds new functionality. kind:test Adds or improves tests. scope:commander Arming, modes, failsafe, health checks, or vehicle state. scope:docs scope:parameters Parameter definitions, metadata, migration, or defaults. scope:testing Unit, integration, fuzzing, or test data. scope:uorb uORB messages, generated interfaces, or message translation.

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