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Commander: failure detector, automatically disarm on a ESC failure

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2020-04-16 15:47:04 +02:00
committed by Mathieu Bresciani
parent a7f2f2908b
commit 743898d574
1 changed files with 9 additions and 4 deletions
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13
src/modules/commander/Commander.cpp
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@@ -2152,15 +2152,20 @@ Commander::run()
if (_failure_detector.isFailure()) {
if (!_have_taken_off_since_arming) {
arm_disarm(false, true, &mavlink_log_pub, "Failure detector");
_status_changed = true;
const hrt_abstime time_at_arm = armed.armed_time_ms * 1000;
if (hrt_elapsed_time(&time_at_arm) < 500_ms) {
// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
if (status.failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
arm_disarm(false, true, &mavlink_log_pub, "Failure detector");
_status_changed = true;
mavlink_log_critical(&mavlink_log_pub, "ESCs did not respond to arm request");
}
} else if (hrt_elapsed_time(&_time_at_takeoff) < (1_s * _param_com_lkdown_tko.get())) {
}
if (hrt_elapsed_time(&_time_at_takeoff) < (1_s * _param_com_lkdown_tko.get())) {
// This handles the case where something fails during the early takeoff phase
if (!_lockdown_triggered) {