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refactor(commander): convert params.c to module.yaml

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Convert 3 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl 2026-03-17 21:55:33 -08:00 committed by Jacob Dahl
parent a9c641a9d8
commit 536480458e
5 changed files with 842 additions and 1250 deletions
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1
src/modules/commander/CMakeLists.txt
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@ -63,6 +63,7 @@ px4_add_module(
worker_thread.cpp
MODULE_CONFIG
module.yaml
commander_params.yaml
DEPENDS
ArmAuthorization
circuit_breaker

104
src/modules/commander/HealthAndArmingChecks/esc_check_params.c
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@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Enable Actuator Failure check
*
* If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle
* level is being consumed.
* Otherwise this indicates an motor failure.
* This check only works for ESCs that report current consumption.
*
* @boolean
*
* @group Motor Failure
*/
PARAM_DEFINE_INT32(FD_ACT_EN, 0);
/**
* Motor Failure Current/Throttle Scale
*
* Determines the slope between expected steady state current and linearized, normalized thrust command.
* E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
* FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
*
* @group Motor Failure
* @min 0.0
* @max 50.0
* @unit A/%
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_C2T, 35.f);
/**
* Undercurrent motor failure limit offset
*
* threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
*
* @group Motor Failure
* @min 0
* @max 30
* @unit A
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_LOW_OFF, 10.f);
/**
* Overcurrent motor failure limit offset
*
* threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
*
* @group Motor Failure
* @min 0
* @max 30
* @unit A
* @decimal 2
* @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 s
* @min 0.01
* @max 10
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_TIME, 1.f);

1003
src/modules/commander/commander_params.c
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841
src/modules/commander/commander_params.yaml Normal file
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@ -0,0 +1,841 @@
module_name: commander
parameters:
- group: Commander
definitions:
COM_DL_LOSS_T:
description:
short: GCS connection loss time threshold
long: After this amount of seconds without datalink, the GCS connection lost
mode triggers
type: int32
default: 10
unit: s
min: 5
max: 300
decimal: 1
increment: 1
COM_HLDL_LOSS_T:
description:
short: High Latency Datalink loss time threshold
long: After this amount of seconds without datalink the data link lost mode
triggers
type: int32
default: 120
unit: s
min: 60
max: 3600
COM_RC_LOSS_T:
description:
short: Manual control loss timeout
long: |-
The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost.
This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.
Ensure the value is not set lower than the update interval of the RC or Joystick.
type: float
default: 0.5
unit: s
min: 0
max: 35
decimal: 1
increment: 0.1
COM_HOME_EN:
description:
short: Home position enabled
long: |-
Set home position automatically if possible.
During missions, the latitude/longitude of the home position is locked and will not reset during intermediate landings.
It will only update once the mission is complete or landed outside of a mission.
However, the altitude is still being adjusted to correct for GNSS vertical drift in the first 2 minutes after takeoff.
type: boolean
default: 1
reboot_required: true
COM_HOME_IN_AIR:
description:
short: Allows setting the home position after takeoff
long: |-
If set to true, the autopilot is allowed to set its home position after takeoff
The true home position is back-computed if a local position is estimate if available.
If no local position is available, home is set to the current position.
type: boolean
default: 0
COM_RC_IN_MODE:
description:
short: Manual control input source configuration
long: |-
Selects stick input selection behavior:
either a traditional remote control receiver (RC) or a MAVLink joystick (MANUAL_CONTROL message)
Priority sources are immediately switched to whenever they get valid.
0 RC only. Requires valid RC calibration.
1 MAVLink only. RC and related checks are disabled.
2 Switches only if current source becomes invalid.
3 Locks to the first valid source until reboot.
4 Ignores all sources.
5 RC priority, then MAVLink (lower instance before higher)
6 MAVLink priority (lower instance before higher), then RC
7 RC priority, then MAVLink (higher instance before lower)
8 MAVLink priority (higher instance before lower), then RC
type: enum
values:
0: RC only
1: MAVLink only
2: RC or MAVLink with fallback
3: RC or MAVLink keep first
4: Disable manual control
5: 'Prio: RC > MAVL 1 > MAVL 2'
6: 'Prio: MAVL 1 > MAVL 2 > RC'
7: 'Prio: RC > MAVL 2 > MAVL 1'
8: 'Prio: MAVL 2 > MAVL 1 > RC'
default: 3
min: 0
max: 8
COM_DISARM_LAND:
description:
short: Time-out for auto disarm after landing
long: |-
A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
automatically disarmed in case a landing situation has been detected during this period.
A zero or negative value means that automatic disarming triggered by landing detection is disabled.
type: float
default: 2.0
unit: s
decimal: 1
increment: 0.1
COM_DISARM_PRFLT:
description:
short: Time-out for auto disarm if not taking off
long: |-
A non-zero, positive value specifies the time in seconds, within which the
vehicle is expected to take off after arming. In case the vehicle didn't takeoff
within the timeout it disarms again.
A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.
type: float
default: 10.0
unit: s
decimal: 1
increment: 0.1
COM_ARM_WO_GPS:
description:
short: Arming without GNSS configuration
long: |-
Configures whether arming is allowed without GNSS, for modes that require a global position
(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
The settings deny arming and warn, allow arming and warn, or silently allow arming.
type: enum
values:
0: Deny arming
1: Allow arming (with warning)
2: Allow arming (no warning)
default: 1
COM_ARM_SWISBTN:
description:
short: Arm switch is a momentary button
long: |-
0: Arming/disarming triggers on switch transition.
1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
type: boolean
default: 0
COM_DISARM_MAN:
description:
short: Allow disarming in manual thrust modes
long: |-
Allow disarming via switch/stick/button on multicopters in manual thrust modes
0: Disallow disarming when not landed
1: Allow disarming in multicopter flight in modes where
the thrust is directly controlled by thr throttle stick
e.g. Stabilized, Acro
type: boolean
default: 1
COM_LOW_BAT_ACT:
description:
short: Battery failsafe mode
long: |-
Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR
for definition of battery states.
type: enum
values:
0: Warning
2: Land mode
3: Return at critical level, land at emergency level
default: 0
COM_FAIL_ACT_T:
description:
short: Delay between failsafe condition triggered and failsafe reaction
long: |-
Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode
for the user to realize.
During that time the user can switch modes, but cannot take over control via the stick override feature (see COM_RC_OVERRIDE).
Afterwards the configured failsafe action is triggered and the user may use stick override.
A zero value disables the delay.
type: float
default: 5.0
unit: s
min: 0.0
max: 25.0
decimal: 1
COM_IMB_PROP_ACT:
description:
short: Imbalanced propeller failsafe mode
long: |-
Action the system takes when an imbalanced propeller is detected by the failure detector.
See also FD_IMB_PROP_THR to set the failure threshold.
type: enum
values:
-1: Disabled
0: Warning
1: Return
2: Land
default: 0
increment: 1
COM_OF_LOSS_T:
description:
short: Offboard connection loss timeout
long: |-
Time-out to wait when offboard connection is lost before triggering offboard lost action
See COM_OBL_RC_ACT to configure action.
type: float
default: 1.0
unit: s
min: 0
max: 60
increment: 0.01
COM_QC_ACT:
description:
short: Set action after a quadchute
type: enum
values:
-1: Warning only
0: Return mode
1: Land mode
2: Hold mode
default: 0
COM_OBL_RC_ACT:
description:
short: Set offboard loss failsafe mode
long: |-
The offboard loss failsafe will only be entered after a timeout,
set by COM_OF_LOSS_T in seconds.
type: enum
values:
0: Position mode
1: Altitude mode
2: Stabilized
3: Return mode
4: Land mode
5: Hold mode
6: Terminate
7: Disarm
default: 0
COM_OBC_LOSS_T:
description:
short: Onboard computer connection loss timeout
long: Time-out to wait when onboard computer connection is lost before warning
about loss connection
type: float
default: 5.0
unit: s
min: 0
max: 60
increment: 0.01
COM_ARM_IMU_ACC:
description:
short: Max accelerometer inconsistency for arming
long: Maximum accelerometer inconsistency between IMU units that will allow
arming
type: float
default: 0.7
unit: m/s^2
min: 0.1
max: 1.0
decimal: 2
increment: 0.05
COM_ARM_IMU_GYR:
description:
short: Max rate gyro inconsistency for arming
long: Maximum rate gyro inconsistency between IMU units that will allow arming
type: float
default: 0.25
unit: rad/s
min: 0.02
max: 0.3
decimal: 3
increment: 0.01
COM_ARM_MAG_ANG:
description:
short: Max magnetic field inconsistency for arming
long: |-
Maximum magnetic field inconsistency between units that will allow arming
Set -1 to disable the check.
type: int32
default: 60
unit: deg
min: 3
max: 180
COM_ARM_MAG_STR:
description:
short: Enable mag strength preflight check
long: |-
Check if the estimator detects a strong magnetic
disturbance (check enabled by EKF2_MAG_CHECK)
type: enum
values:
0: Disabled
1: Deny arming
2: Warning only
default: 2
COM_RC_OVERRIDE:
description:
short: Enable manual control stick override
long: |-
When enabled, moving the sticks more than COM_RC_STICK_OV
immediately gives control back to the pilot by switching to Position mode and
if position is unavailable Altitude mode.
Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
type: bitmask
bit:
0: Enable override during auto modes (except for in critical battery reaction)
1: Enable override during offboard mode
default: 1
min: 0
max: 3
COM_RC_STICK_OV:
description:
short: Stick override threshold
long: |-
If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
the pilot takes over control.
type: float
default: 30.0
unit: '%'
min: 5
max: 80
decimal: 0
increment: 0.05
COM_ARM_MIS_REQ:
description:
short: Require valid mission to arm
long: The default allows to arm the vehicle without a valid mission.
type: boolean
default: 0
COM_ARM_AUTH_REQ:
description:
short: Require arm authorization to arm
long: By default off. The default allows to arm the vehicle without a arm
authorization.
type: boolean
default: 0
COM_ARM_AUTH_ID:
description:
short: Arm authorizer system id
long: Used if arm authorization is requested by COM_ARM_AUTH_REQ.
type: int32
default: 10
COM_ARM_AUTH_MET:
description:
short: Arm authorization method
long: |-
Methods:
- one arm: request authorization and arm when authorization is received
- two step arm: 1st arm command request an authorization and
2nd arm command arm the drone if authorized
Used if arm authorization is requested by COM_ARM_AUTH_REQ.
type: enum
values:
0: one arm
1: two step arm
default: 0
COM_ARM_AUTH_TO:
description:
short: Arm authorization timeout
long: |-
Timeout for authorizer answer.
Used if arm authorization is requested by COM_ARM_AUTH_REQ.
type: float
default: 1
unit: s
decimal: 1
increment: 0.1
COM_POS_FS_EPH:
description:
short: Horizontal position error threshold for hovering systems
long: |-
This is the horizontal position error (EPH) threshold that will trigger a failsafe.
If the previous position error was below this threshold, there is an additional
factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
Only used for multicopters and VTOLs in hover mode.
Independent from estimator positioning data timeout threshold (see EKF2_NOAID_TOUT).
Set to -1 to disable.
type: float
default: 5.0
unit: m
min: -1
max: 400
decimal: 1
COM_VEL_FS_EVH:
description:
short: Horizontal velocity error threshold
long: |-
This is the horizontal velocity error (EVH) threshold that will trigger a failsafe.
The default is appropriate for a multicopter. Can be increased for a fixed-wing.
If the previous velocity error was below this threshold, there is an additional
factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
type: float
default: 1.0
unit: m/s
min: 0
decimal: 1
COM_FLIGHT_UUID:
description:
short: Next flight UUID
long: |-
This number is incremented automatically after every flight on
disarming in order to remember the next flight UUID.
The first flight is 0.
category: System
type: int32
default: 0
volatile: true
min: 0
COM_TAKEOFF_ACT:
description:
short: Action after TAKEOFF has been accepted
long: The mode transition after TAKEOFF has completed successfully.
type: enum
values:
0: Hold
1: Mission (if valid)
default: 0
NAV_DLL_ACT:
description:
short: Set GCS connection loss failsafe mode
long: |-
The GCS connection loss failsafe will only be entered after a timeout,
set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
action will be executed.
type: enum
values:
0: Disabled
1: Hold mode
2: Return mode
3: Land mode
5: Terminate
6: Disarm
default: 0
min: 0
max: 6
NAV_RCL_ACT:
description:
short: Set manual control loss failsafe mode
long: |-
The manual control loss failsafe will only be entered after a timeout,
set by COM_RC_LOSS_T in seconds.
type: enum
values:
1: Hold mode
2: Return mode
3: Land mode
5: Terminate
6: Disarm
default: 2
min: 1
max: 6
COM_RCL_EXCEPT:
description:
short: Manual control loss exceptions
long: |-
Specify modes in which stick input is ignored and no failsafe action is triggered.
External modes requiring stick input will still failsafe.
Auto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.
type: bitmask
bit:
0: Mission
1: Auto modes
2: Offboard
3: External Mode
4: Altitude Cruise
default: 0
min: 0
max: 31
COM_DLL_EXCEPT:
description:
short: Datalink loss exceptions
long: |-
Specify modes in which ground control station connection loss is ignored and no failsafe action is triggered.
See also COM_RCL_EXCEPT.
type: bitmask
bit:
0: Mission
1: Auto modes
2: Offboard
3: External Mode
4: Altitude Cruise
default: 0
min: 0
max: 31
COM_ACT_FAIL_ACT:
description:
short: Set the actuator failure failsafe mode
long: |-
Note: actuator failure needs to be enabled and configured via FD_ACT_*
parameters.
type: enum
values:
0: Warning only
1: Hold mode
2: Land mode
3: Return mode
4: Terminate
default: 0
min: 0
max: 3
COM_PARACHUTE:
description:
short: Require MAVLink parachute system to be present and healthy
type: boolean
default: 0
COM_ARM_CHK_ESCS:
description:
short: Enable checks on ESCs that report telemetry
long: |-
If this parameter is set, the system will check ESC's online status and failures.
This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.
type: boolean
default: 0
COM_PREARM_MODE:
description:
short: Condition to enter prearmed mode
long: |-
Condition to enter the prearmed state, an intermediate state between disarmed and armed
in which non-throttling actuators are active.
type: enum
values:
0: Disabled
1: Safety button
2: Always
default: 0
COM_FORCE_SAFETY:
description:
short: Enable force safety
long: Force safety when the vehicle disarms
type: boolean
default: 0
COM_CPU_MAX:
description:
short: Maximum allowed CPU load to still arm
long: |-
The check fails if the CPU load is above this threshold for 2s.
A negative value disables the check.
type: float
default: 95.0
unit: '%'
min: -1
max: 100
increment: 1
COM_RAM_MAX:
description:
short: Maximum allowed RAM usage to pass checks
long: |-
The check fails if the RAM usage is above this threshold.
A negative value disables the check.
type: float
default: 95.0
unit: '%'
min: -1
max: 100
increment: 1
COM_POWER_COUNT:
description:
short: Required number of redundant power modules
long: |-
This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected.
Note: CBRK_SUPPLY_CHK disables all power checks including this one.
type: int32
default: 1
min: 0
max: 4
COM_LKDOWN_TKO:
description:
short: Timeout for detecting a failure after takeoff
long: |-
A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle
if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).
A zero or negative value means that the check is disabled.
type: float
default: 3.0
unit: s
min: -1.0
max: 5.0
decimal: 3
COM_ARM_SDCARD:
description:
short: Enable FMU SD card detection check
long: |-
This check detects if the FMU SD card is missing.
Depending on the value of the parameter, the check can be
disabled, warn only or deny arming.
type: enum
values:
0: Disabled
1: Warning only
2: Enforce SD card presence
default: 1
COM_ARM_HFLT_CHK:
description:
short: Enable FMU SD card hardfault / watchdog detection check
long: |-
This check detects if there are hardfault / watchdog files present on the
SD card. If so, and the parameter is enabled, arming is prevented.
type: boolean
default: 1
COM_ARM_ODID:
description:
short: Enable Drone ID system detection and health check
long: |-
This check detects if the Open Drone ID system is missing.
Depending on the value of the parameter, the check can be
disabled, warn only or deny arming.
type: enum
values:
0: Disabled
1: Warning only
2: Enforce Open Drone ID system presence
default: 0
COM_ARM_TRAFF:
description:
short: Enable Traffic Avoidance system detection check
long: |-
This check detects if a traffic avoidance system (ADSB/FLARM transponder)
is missing. Depending on the value of the parameter, the check can be
disabled, warn only, or deny arming.
type: enum
values:
0: Disabled
1: Warning only
2: Enforce for all modes
3: Enforce for mission modes only
default: 0
COM_SPOOLUP_TIME:
description:
short: Enforced delay between arming and further navigation
long: |-
The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.
Goal:
- Motors and propellers spool up to idle speed before getting commanded to spin faster
- Timeout for ESCs and smart batteries to successfulyy do failure checks
e.g. for stuck rotors before the vehicle is off the ground
type: float
default: 1.0
min: 0
max: 30
decimal: 1
increment: 0.1
unit: s
COM_WIND_WARN:
description:
short: Wind speed warning threshold
long: |-
A warning is triggered if the currently estimated wind speed is above this value.
Warning is sent periodically (every 1 minute).
Set to -1 to disable.
type: float
default: -1.0
min: -1
decimal: 1
increment: 0.1
unit: m/s
COM_FLT_TIME_MAX:
description:
short: Maximum allowed flight time
long: |-
The vehicle aborts the current operation and returns to launch when
the time since takeoff is above this value. It is not possible to resume the
mission or switch to any auto mode other than RTL or Land. Taking over in any manual
mode is still possible.
Starting from 90% of the maximum flight time, a warning message will be sent
every 1 minute with the remaining time until automatic RTL.
Set to -1 to disable.
type: int32
default: -1
unit: s
min: -1
COM_WIND_MAX:
description:
short: High wind speed failsafe threshold
long: |-
Wind speed threshold above which an automatic failsafe action is triggered.
Failsafe action can be specified with COM_WIND_MAX_ACT.
type: float
default: -1.0
min: -1
decimal: 1
increment: 0.1
unit: m/s
COM_WIND_MAX_ACT:
description:
short: High wind failsafe mode
long: |-
Action the system takes when a wind speed above the specified threshold is detected.
See COM_WIND_MAX to set the failsafe threshold.
If enabled, it is not possible to resume the mission or switch to any auto mode other than
RTL or Land if this threshold is exceeded. Taking over in any manual
mode is still possible.
type: enum
values:
0: None
1: Warning
2: Hold
3: Return
4: Terminate
5: Land
default: 0
increment: 1
COM_POS_LOW_EPH:
description:
short: Low position accuracy failsafe threshold
long: |-
This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold.
Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT),
and a high failsafe threshold (COM_POS_FS_EPH).
Set to -1 to disable.
type: float
default: -1.0
min: -1
max: 1000
unit: m
COM_POS_LOW_ACT:
description:
short: Low position accuracy action
long: |-
Action the system takes when the estimated position has an accuracy below the specified threshold.
See COM_POS_LOW_EPH to set the failsafe threshold.
The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,
otherwise it is only a warning.
type: enum
values:
0: None
1: Warning
2: Hold
3: Return
4: Terminate
5: Land
default: 3
increment: 1
COM_ARMABLE:
description:
short: Flag to allow arming
long: Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance
reasons.
type: enum
values:
0: Disallow arming
1: Allow arming
default: 1
COM_ARM_BAT_MIN:
description:
short: Minimum battery level for arming
long: |-
Threshold for battery percentage below arming is prohibited.
A negative value means BAT_CRIT_THR is the threshold.
type: float
default: -1.0
unit: norm
min: -1
max: 0.9
decimal: 2
increment: 0.01
COM_THROW_EN:
description:
short: Enable throw-start
long: Allows to start the vehicle by throwing it into the air.
type: boolean
default: 0
COM_THROW_SPEED:
description:
short: Minimum speed for the throw start
long: |-
When the throw launch is enabled, the drone will only allow motors to spin after this speed
is exceeded before detecting the freefall. This is a safety feature to ensure the drone does
not turn on after accidental drop or a rapid movement before the throw.
Set to 0 to disable.
type: float
default: 5
min: 0
decimal: 1
increment: 0.1
unit: m/s
COM_FLTT_LOW_ACT:
description:
short: Remaining flight time low failsafe
long: |-
Action the system takes when the remaining flight time is below
the estimated time it takes to reach the RTL destination.
type: enum
values:
0: None
1: Warning
3: Return
default: 0
increment: 1
COM_MODE_ARM_CHK:
description:
short: Allow external mode registration while armed
long: By default disabled for safety reasons
type: boolean
default: 0
- group: Radio Calibration
definitions:
TRIM_ROLL:
description:
short: Roll trim
long: |-
The trim value is the actuator control value the system needs
for straight and level flight.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
increment: 0.01
TRIM_PITCH:
description:
short: Pitch trim
long: |-
The trim value is the actuator control value the system needs
for straight and level flight.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
increment: 0.01
TRIM_YAW:
description:
short: Yaw trim
long: |-
The trim value is the actuator control value the system needs
for straight and level flight.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
increment: 0.01

143
src/modules/commander/failure_detector/failure_detector_params.c
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@ -1,143 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file failure_detector_params.c
*
* Parameters used by the Failure Detector.
*
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*/
/**
* FailureDetector Max Roll
*
* 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
*
* @min 0
* @max 180
* @unit deg
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_FAIL_R, 60);
/**
* FailureDetector Max Pitch
*
* 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
*
* @min 0
* @max 180
* @unit deg
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_FAIL_P, 60);
/**
* Roll failure trigger time
*
* Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_FLOAT(FD_FAIL_R_TTRI, 0.3);
/**
* Pitch failure trigger time
*
* Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3);
/**
* Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).
*
* Enabled on either AUX5 or MAIN5 depending on board.
* External ATS is required by ASTM F3322-18.
*
* @boolean
* @reboot_required true
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_EXT_ATS_EN, 0);
/**
* The PWM threshold from external automatic trigger system for engaging failsafe.
*
* External ATS is required by ASTM F3322-18.
*
* @unit us
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900);
/**
* Imbalanced propeller check threshold
*
* Value at which the imbalanced propeller metric (based on horizontal and
* vertical acceleration variance) triggers a failure
*
* Setting this value to 0 disables the feature.
*
* @min 0
* @max 1000
* @increment 1
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_IMB_PROP_THR, 30);