From 14853539e31aba596dba2c33d4d1c3ddfd3aa2a8 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 28 May 2020 16:30:48 +1000 Subject: [PATCH] CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection (#14972) * 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 --- .../circuit_breaker/circuit_breaker_params.c | 3 ++- .../failure_detector/failure_detector_params.c | 18 ++++++++++-------- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/src/lib/circuit_breaker/circuit_breaker_params.c b/src/lib/circuit_breaker/circuit_breaker_params.c index 140dbdb06d..f6d808104c 100644 --- a/src/lib/circuit_breaker/circuit_breaker_params.c +++ b/src/lib/circuit_breaker/circuit_breaker_params.c @@ -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 diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c index dbc024ae72..cfaadeb8cf 100644 --- a/src/modules/commander/failure_detector/failure_detector_params.c +++ b/src/modules/commander/failure_detector/failure_detector_params.c @@ -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 *