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FailureDetector - Add roll and pitch failures hysteresis

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bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent a72de95c94
commit 38345be41a
3 changed files with 45 additions and 5 deletions
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src/modules/commander/failure_detector/FailureDetector.hpp
+7 -1
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@@ -46,6 +46,7 @@
#include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <px4_module_params.h>
#include <systemlib/hysteresis/hysteresis.h>
// subscriptions
#include <uORB/Subscription.hpp>
@@ -75,7 +76,9 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r
(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
(ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri
)
// Subscriptions
@@ -84,5 +87,8 @@ private:
uint8_t _status{FAILURE_NONE};
systemlib::Hysteresis _roll_failure_hysteresis{false};
systemlib::Hysteresis _pitch_failure_hysteresis{false};
bool update_attitude_status();
};