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Failure Detector - Use dedicated parameters for attitude checks

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This commit is contained in:
bresch
2018-08-09 15:54:47 +02:00
committed by Daniel Agar
parent 72f2317c95
commit fea91c96e8
2 changed files with 26 additions and 2 deletions
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24
src/modules/commander/commander_params.c
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@@ -746,6 +746,30 @@ PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
*/
PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
/**
* FailureDetector Max Roll
*
* Maximum roll angle before FailureDetector triggers the attitude_failure flag
* Does not affect the behavior of the vehicle for now; only for logging
* @min 0
* @max 180
* @unit degrees
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FAIL_R, 60);
/**
* FailureDetector Max Pitch
*
* Maximum pitch angle before FailureDetector triggers the attitude_failure flag
* Does not affect the behavior of the vehicle for now; only for logging
* @min 0
* @max 180
* @unit degrees
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FAIL_P, 60);
/**
* Next flight UUID
*

4
src/modules/commander/failure_detector/FailureDetector.hpp
View File

@@ -72,8 +72,8 @@ public:
private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::VT_FW_QC_P>) _fail_trig_pitch,
(ParamInt<px4::params::VT_FW_QC_R>) _fail_trig_roll
(ParamInt<px4::params::COM_FAIL_P>) _fail_trig_pitch,
(ParamInt<px4::params::COM_FAIL_R>) _fail_trig_roll
)
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