AP_HAL_ChibiOS: Add rally timeout script

libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-Target/scripts/rally_timeout.lua

@@ -0,0 +1,45 @@
+local PARAM_TABLE_KEY = 117
+
+-- create custom parameter set
+local function add_params(key, prefix, tbl)
+    assert(param:add_table(key, prefix, #tbl), string.format('Could not add %s param table.', prefix))
+    for num = 1, #tbl do
+        assert(param:add_param(key, num,  tbl[num][1], tbl[num][2]), string.format('Could not add %s%s.', prefix, tbl[num][1]))
+    end
+end
+
+-- edit this function call to suit your use case
+add_params(PARAM_TABLE_KEY, 'FS_RALLY', {
+        { '_TIMEOUT',        30*60 },
+    })
+
+local timeout = Parameter()
+timeout:init('FS_RALLY_TIMEOUT')
+local rally_start_time = nil
+
+function update()
+  if vehicle:get_mode() == 11 then
+    -- we are in rally
+    if rally_start_time == nil then
+      -- we weren't tracking time, so start it
+      rally_start_time = millis()
+    else
+      local timeout_v = timeout:get()
+      if (timeout_v > 0) and (millis() - rally_start_time >= timeout_v*1000) then
+        if mission:jump_to_landing_sequence() then
+          -- only change to auto if we could pick a landing
+          vehicle:set_mode(10) -- jump to auto
+        else
+          gcs:send_text(4, "Rally Failsafe: No landing sequence available")
+          rally_start_time = nil
+        end
+      end
+    end
+  else
+    rally_start_time = nil
+  end
+
+  return update, 500 -- run at 2Hz
+end
+
+return update()