@Andrew_Tridgell and others,
I need my rover to HOLD when there is no rtk GPS fix (i.e. when GPS fix type is lower than 5). Also, after such a hold, if the GPS fix recovers (i.e. changes back to 5 or 6) I’d like the rover to resume its mission, i.e. go back to AUTO mode. The basic logic I need is:
- If in AUTO, and GPS fix changes from (5 or 6) to (value <5), change mode to HOLD and DO_SET_SERVO #5 to 900
- If in HOLD because of the above rule (i.e. and not because of some other reason), and GPS fix changes from (value <5) to (5 or 6), then DO_SET_SERVO #5 to 2000 and change mode to AUTO
I looked and didn’t see any internal support for this within the Failsafe mechanisms inside Ardurover… Right? Given that, what if any difference do you see between implementing this as a LUA script and building logic on my companion computer?