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FailureDetector: adhere to the parameter naming convention

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This commit is contained in:
Matthias Grob
2025-05-15 16:41:44 +02:00
parent 06575a5e14
commit 70784e83d7
2 changed files with 8 additions and 8 deletions
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src/modules/commander/failure_detector/FailureDetector.cpp
+4 -4
View File
@@ -194,7 +194,7 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
updateEscsStatus(vehicle_status, esc_status);
}
if (_param_fd_actuator_en.get()) {
if (_param_fd_act_en.get()) {
updateMotorStatus(vehicle_status, esc_status);
}
}
@@ -426,9 +426,9 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
esc_throttle = fabsf(actuator_motors.control[i_esc]);
}
const bool throttle_above_threshold = esc_throttle > _param_fd_motor_throttle_thres.get();
const bool throttle_above_threshold = esc_throttle > _param_fd_act_mot_thr.get();
const bool current_too_low = cur_esc_report.esc_current < esc_throttle *
_param_fd_motor_current2throttle_thres.get();
_param_fd_act_mot_c2t.get();
if (throttle_above_threshold && current_too_low && !esc_timed_out) {
if (_motor_failure_undercurrent_start_time[i_esc] == 0) {
@@ -442,7 +442,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
}
if (_motor_failure_undercurrent_start_time[i_esc] != 0
&& (time_now - _motor_failure_undercurrent_start_time[i_esc]) > _param_fd_motor_time_thres.get() * 1_ms
&& (time_now - _motor_failure_undercurrent_start_time[i_esc]) > _param_fd_act_mot_tout.get() * 1_ms
&& (_motor_failure_esc_under_current_mask & (1 << i_esc)) == 0) {
// Set flag
_motor_failure_esc_under_current_mask |= (1 << i_esc);
src/modules/commander/failure_detector/FailureDetector.hpp
+4 -4
View File
@@ -152,9 +152,9 @@ private:
(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr,
// Actuator failure
(ParamBool<px4::params::FD_ACT_EN>) _param_fd_actuator_en,
(ParamFloat<px4::params::FD_ACT_MOT_THR>) _param_fd_motor_throttle_thres,
(ParamFloat<px4::params::FD_ACT_MOT_C2T>) _param_fd_motor_current2throttle_thres,
(ParamInt<px4::params::FD_ACT_MOT_TOUT>) _param_fd_motor_time_thres
(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
(ParamFloat<px4::params::FD_ACT_MOT_THR>) _param_fd_act_mot_thr,
(ParamFloat<px4::params::FD_ACT_MOT_C2T>) _param_fd_act_mot_c2t,
(ParamInt<px4::params::FD_ACT_MOT_TOUT>) _param_fd_act_mot_tout
)
};