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escCheck: rename MOTFAIL_TOUT -> MOTFAIL_TIME and further cleanup

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This commit is contained in:
Matthias Grob 2026-02-20 16:47:18 +01:00
parent 035ccc8395
commit 2ff83e7e7c
4 changed files with 17 additions and 27 deletions
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29
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks_params.c
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@ -31,9 +31,6 @@
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <parameters/param.h>
/**
* Motor Failure Thrust Threshold
*
@ -65,19 +62,6 @@ PARAM_DEFINE_FLOAT(MOTFAIL_THR, 0.2f);
*/
PARAM_DEFINE_FLOAT(MOTFAIL_C2T, 35.f);
/**
* Motor Failure Hysteresis Time
*
* Motor failure only triggers after current thresholds are exceeded for this time.
*
* @group Motor Failure
* @unit ms
* @min 10
* @max 10000
* @increment 100
*/
PARAM_DEFINE_INT32(MOTFAIL_TOUT, 1000);
/**
* Undercurrent motor failure limit offset
*
@ -105,3 +89,16 @@ PARAM_DEFINE_FLOAT(MOTFAIL_LOW_OFF, 10.f);
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
/**
* Motor Failure Hysteresis Time
*
* Motor failure only triggers after current thresholds are exceeded for this time.
*
* @group Motor Failure
* @unit ms
* @min 10
* @max 10000
* @increment 100
*/
PARAM_DEFINE_INT32(MOTFAIL_TIME, 1000);

4
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
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@ -273,8 +273,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_low_off.get();
bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_high_off.get();
_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_tout.get() * 1_ms);
_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_tout.get() * 1_ms);
_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
if (!_esc_undercurrent_hysteresis[i].get_state()) {
// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again

8
src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
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@ -50,10 +50,7 @@ public:
void checkAndReport(const Context &context, Report &reporter) override;
uint16_t getMotorFailureMask() const
{
return _motor_failure_mask;
}
uint16_t getMotorFailureMask() const { return _motor_failure_mask; }
bool getEscArmStatus() const { return _esc_arm_hysteresis.get_state(); }
private:
@ -63,7 +60,6 @@ private:
void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status);
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
const hrt_abstime _start_time{hrt_absolute_time()};
@ -80,7 +76,7 @@ private:
(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
(ParamFloat<px4::params::MOTFAIL_THR>) _param_motfail_thr,
(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
(ParamInt<px4::params::MOTFAIL_TOUT>) _param_motfail_tout,
(ParamInt<px4::params::MOTFAIL_TIME>) _param_motfail_time,
(ParamFloat<px4::params::MOTFAIL_LOW_OFF>) _param_motfail_low_off,
(ParamFloat<px4::params::MOTFAIL_HIGH_OFF>) _param_motfail_high_off);
};

3
src/modules/commander/failure_detector/failure_detector_params.c
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@ -39,9 +39,6 @@
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*/
#include <px4_platform_common/px4_config.h>
#include <parameters/param.h>
/**
* FailureDetector Max Roll
*