Navigator: Support finer granularity of RTL and failsafe actions

src/modules/navigator/navigator_main.cpp

@@ -518,13 +518,13 @@ Navigator::task_main()
 				break;
 			case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
 				_pos_sp_triplet_published_invalid_once = false;
-				if (_param_rcloss_act.get() == 0) {
+				if (_param_rcloss_act.get() == 1) {
 					_navigation_mode = &_loiter;
-				} else if (_param_rcloss_act.get() == 2) {
-					_navigation_mode = &_land;
 				} else if (_param_rcloss_act.get() == 3) {
+					_navigation_mode = &_land;
+				} else if (_param_rcloss_act.get() == 4) {
 					_navigation_mode = &_rcLoss;
-				} else { /* if == 1 or unknown, RTL */
+				} else { /* if == 2 or unknown, RTL */
 					_navigation_mode = &_rtl;
 				}
 				break;
@@ -548,13 +548,13 @@ Navigator::task_main()
 				/* Use complex data link loss mode only when enabled via param
 				* otherwise use rtl */
 				_pos_sp_triplet_published_invalid_once = false;
-				if (_param_datalinkloss_act.get() == 0) {
+				if (_param_datalinkloss_act.get() == 1) {
 					_navigation_mode = &_loiter;
-				} else if (_param_datalinkloss_act.get() == 2) {
-					_navigation_mode = &_land;
 				} else if (_param_datalinkloss_act.get() == 3) {
+					_navigation_mode = &_land;
+				} else if (_param_datalinkloss_act.get() == 4) {
 					_navigation_mode = &_dataLinkLoss;
-				} else { /* if == 1 or unknown, RTL */
+				} else { /* if == 2 or unknown, RTL */
 					_navigation_mode = &_rtl;
 				}
 				break;

src/modules/navigator/navigator_params.c

@@ -68,34 +68,35 @@ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
  * Set data link loss failsafe mode
  *
  * The data link loss failsafe will only be entered after a timeout,
- * set by a DIFFERENT parameter. If the timeout value is smaller than
+ * set by COM_RC_LOSS_T in seconds.
- * zero it will never be entered.
  *
- * @value 0 Loiter
+ * @value 0 Disabled
- * @value 1 Return to Land
+ * @value 1 Loiter
- * @value 2 Land at current position
+ * @value 2 Return to Land
- * @value 3 Outback Challenge (OBC) rules
+ * @value 3 Land at current position
+ * @value 4 Outback Challenge (OBC) rules
  *
  * @group Mission
  */
-PARAM_DEFINE_INT32(NAV_DLL_ACT, 1);
+PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 
 /**
  * Set RC loss failsafe mode
  *
  * The RC loss failsafe will only be entered after a timeout,
- * set by a DIFFERENT parameter. If the timeout value is smaller than
+ * set by COM_RC_LOSS_T in seconds. If the timeout value is smaller than
  * zero it will never be entered. If RC input checks have been disabled
  * by setting the COM_RC_IN_MODE param it will also not be triggered.
  *
- * @value 0 Loiter
+ * @value 0 Disabled
- * @value 1 Return to Land
+ * @value 1 Loiter
- * @value 2 Land at current position
+ * @value 2 Return to Land
- * @value 3 Outback Challenge (OBC) rules
+ * @value 3 Land at current position
+ * @value 4 Outback Challenge (OBC) rules
  *
  * @group Mission
  */
-PARAM_DEFINE_INT32(NAV_RCL_ACT, 1);
+PARAM_DEFINE_INT32(NAV_RCL_ACT, 0);
 
 /**
  * Airfield home Lat