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rate controller failure detector at takeoff

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Daniel Agar
2020-12-13 20:45:48 -05:00
parent e51000c5be
commit 6c5af97868
12 changed files with 121 additions and 55 deletions
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msg/actuator_armed.msg
+2 -1
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@@ -1,6 +1,7 @@
uint64 timestamp # time since system start (microseconds)
uint32 armed_time_ms # Arming timestamp
uint64 armed_time # Arming timestamp
bool armed # Set to true if system is armed
bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
bool ready_to_arm # Set to true if system is ready to be armed
msg/rate_ctrl_status.msg
+3
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@@ -5,3 +5,6 @@ float32 rollspeed_integ
float32 pitchspeed_integ
float32 yawspeed_integ
float32 additional_integ1 # FW: wheel rate integrator (optional)
float32[3] error # rate error [radians/s]
float32[3] error_integrated # rate error integrated [radians]
msg/vehicle_status.msg
+7 -6
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@@ -11,12 +11,13 @@ uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6
# FailureDetector status
uint8 FAILURE_NONE = 0
uint8 FAILURE_ROLL = 1 # (1 << 0)
uint8 FAILURE_PITCH = 2 # (1 << 1)
uint8 FAILURE_ALT = 4 # (1 << 2)
uint8 FAILURE_EXT = 8 # (1 << 3)
uint8 FAILURE_ARM_ESC = 16 # (1 << 4)
uint8 FAILURE_NONE = 0
uint8 FAILURE_ROLL = 1 # (1 << 0)
uint8 FAILURE_PITCH = 2 # (1 << 1)
uint8 FAILURE_ALT = 4 # (1 << 2)
uint8 FAILURE_EXT = 8 # (1 << 3)
uint8 FAILURE_ARM_ESC = 16 # (1 << 4)
uint8 FAILURE_RATE_CTRL = 32 # (1 << 5)
# HIL
uint8 HIL_STATE_OFF = 0