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CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection (#14972)

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* CBRK_FLIGHTTERM: Clarify does not affect takeoff failure safety detection

* FD_FAIL_P FD_FAIL_R - clarify apply on takeoff

* Improve param text

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Hamish Willee 2020-05-28 16:30:48 +10:00 committed by GitHub
parent 05856c1029
commit 14853539e3
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2 changed files with 12 additions and 9 deletions
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3
src/lib/circuit_breaker/circuit_breaker_params.c
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@ -106,7 +106,8 @@ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
*
* Setting this parameter to 121212 will disable the flight termination action if triggered
* by the FailureDetector logic or if FMU is lost.
* This circuit breaker does not affect the RC loss, data link loss and geofence safety logic.
* This circuit breaker does not affect the RC loss, data link loss, geofence,
* and takeoff failure detection safety logic.
*
* @reboot_required true
* @min 0

18
src/modules/commander/failure_detector/failure_detector_params.c
View File

@ -45,10 +45,11 @@
/**
* FailureDetector Max Roll
*
* Maximum roll angle before FailureDetector triggers the attitude_failure flag
* If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
* will terminate the flight and set all the outputs to their failsafe value
* as soon as the attitude_failure flag is set.
* Maximum roll angle before FailureDetector triggers the attitude_failure flag.
* The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
* which sets outputs to their failsafe values.
* On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
* which disarms motors but does not set outputs to failsafe values.
*
* Setting this parameter to 0 disables the check
*
@ -62,10 +63,11 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
/**
* FailureDetector Max Pitch
*
* Maximum pitch angle before FailureDetector triggers the attitude_failure flag
* If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
* will terminate the flight and set all the outputs to their failsafe value
* as soon as the attitude_failure flag is set.
* Maximum pitch angle before FailureDetector triggers the attitude_failure flag.
* The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
* which sets outputs to their failsafe values.
* On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
* which disarms motors but does not set outputs to failsafe values.
*
* Setting this parameter to 0 disables the check
*