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failure detector use per index esc current

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alexklimaj 2024-09-29 10:58:41 -06:00 committed by Mathieu Bresciani
parent 332b7bec27
commit 602042dd5c
2 changed files with 3 additions and 3 deletions
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4
src/modules/commander/failure_detector/FailureDetector.cpp
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@ -416,10 +416,10 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
// Check if ESC current is too low
if (cur_esc_report.esc_current > FLT_EPSILON) {
_motor_failure_escs_have_current = true;
_motor_failure_esc_has_current[i_esc] = true;
}
if (_motor_failure_escs_have_current) {
if (_motor_failure_esc_has_current[i_esc]) {
float esc_throttle = 0.f;
if (PX4_ISFINITE(actuator_motors.control[i_esc])) {

2
src/modules/commander/failure_detector/FailureDetector.hpp
View File

@ -129,7 +129,7 @@ private:
uint8_t _motor_failure_esc_valid_current_mask{}; // ESC 1-8, true if ESC telemetry was valid at some point
uint8_t _motor_failure_esc_timed_out_mask{}; // ESC telemetry no longer available -> failure
uint8_t _motor_failure_esc_under_current_mask{}; // ESC drawing too little current -> failure
bool _motor_failure_escs_have_current{false}; // true if some ESC had non-zero current (some don't support it)
bool _motor_failure_esc_has_current[actuator_motors_s::NUM_CONTROLS] {false}; // true if some ESC had non-zero current (some don't support it)
hrt_abstime _motor_failure_undercurrent_start_time[actuator_motors_s::NUM_CONTROLS] {};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};