yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

systemlib: Add circuit breaker parameter for position error checks

Browse Source
This commit is contained in:
priseborough
2017-03-08 10:59:19 +11:00
committed by Lorenz Meier
parent e61e733d1d
commit 519e903347
2 changed files with 15 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
src/modules/systemlib/circuit_breaker.h
View File

@@ -57,6 +57,7 @@
#define CBRK_ENGINEFAIL_KEY 284953 #define CBRK_ENGINEFAIL_KEY 284953
#define CBRK_GPSFAIL_KEY 240024 #define CBRK_GPSFAIL_KEY 240024
#define CBRK_USB_CHK_KEY 197848 #define CBRK_USB_CHK_KEY 197848
#define CBRK_VELPOSERR_KEY 201607
#include <stdbool.h> #include <stdbool.h>

14
src/modules/systemlib/circuit_breaker_params.c
View File

@@ -169,3 +169,17 @@ PARAM_DEFINE_INT32(CBRK_BUZZER, 0);
* @group Circuit Breaker * @group Circuit Breaker
*/ */
PARAM_DEFINE_INT32(CBRK_USB_CHK, 0); PARAM_DEFINE_INT32(CBRK_USB_CHK, 0);
/**
* Circuit breaker for position error check
*
* Setting this parameter to 201607 will disable the position and velocity
* accuracy checks in the commander.
* WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
*
* @reboot_required true
* @min 0
* @max 201607
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_VELPOSERR, 0);