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CA: handle servo failure detection

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- add fd_servo to failure detector status
- inside control allocation: if one axis is no longer controllable with servos
then enable auxiliary motors for it's control (VTOL only)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-06-10 11:16:32 +02:00
parent d27ac8a2cb
commit 1fcd5b466f
6 changed files with 82 additions and 26 deletions
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msg/FailureDetectorStatus.msg
+2
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@@ -9,6 +9,8 @@ bool fd_arm_escs
bool fd_battery
bool fd_imbalanced_prop
bool fd_motor
bool fd_servo
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
uint16 servo_failure_mask # Bit-mask with servo indices, indicating critical servo failures