I am trying to run HIL simulations on v1.16.0 with Pixhawk Cube orange+. I am using a Simulink fixed wing model for flight dynamics and sensor models. While trying to simulate the Position (GNSS) Loss Failsafe I just switched off the GNSS data being sent to Cube mid flight.
According to the Parameter description and failsafe documentation the aircraft should switch to either Altitude/ Stabilised mode if the parameter COM_POSCTL_NAVL is set to 0 based on the altitude estimate availability. But each time I trigger GNSS failure it directly enters Land mode.
I also experimented with COM_POS_LOW_EPH and COM_POS_LOW_ACT. When I fail GNSS and the position accuracy falls below COM_POS_LOW_EPH it rightfully triggers the failsafe action mentioned in COM_POS_LOW_ACT. Also when accuracy falls below COM_POS_FS_EPH it immediately triggers Land.
But I never see effect of COM_POSCTL_NAVL on GNSS failure. Am I missing something or can somebody explain what exactly is the failsafe logic here?
