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FW Position controller: improve parameter sanity checks (provide more feedback)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-10 13:43:05 +02:00
parent c8ec6b3d08
commit 63a53d48e7
2 changed files with 23 additions and 10 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+22 -10
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@@ -141,19 +141,31 @@ FixedwingPositionControl::parameters_update()
landing_status_publish(); landing_status_publish();
int check_ret = PX4_OK;
// sanity check parameters // sanity check parameters
if ((_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) || if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) {
(_param_fw_airspd_max.get() < 5.0f) || mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed min smaller than max");
(_param_fw_airspd_min.get() > 100.0f) || check_ret = PX4_ERROR;
(_param_fw_airspd_trim.get() < _param_fw_airspd_min.get()) ||
(_param_fw_airspd_trim.get() > _param_fw_airspd_max.get())) {
mavlink_log_critical(&_mavlink_log_pub, "Airspeed parameters invalid");
return PX4_ERROR;
} }
return PX4_OK; if (_param_fw_airspd_max.get() < 5.0f || _param_fw_airspd_min.get() > 100.0f) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max < 5 m/s or min > 100 m/s");
check_ret = PX4_ERROR;
}
if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() ||
_param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed cruise out of min or max bounds");
check_ret = PX4_ERROR;
}
if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get() * 0.9f) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Stall airspeed higher than 0.9 of min");
check_ret = PX4_ERROR;
}
return check_ret;
} }
void void
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1
View File
@@ -353,6 +353,7 @@ private:
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max, (ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min, (ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim, (ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff, (ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff,