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FW pos control: Provide detailed feedback on airspeed misconfiguration.

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-07 15:31:23 +02:00
committed by Lorenz Meier
parent c49c8932de
commit 7a6aa4cd09
1 changed files with 17 additions and 10 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+17 -10
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@@ -141,19 +141,26 @@ FixedwingPositionControl::parameters_update()
landing_status_publish();
int check_ret = PX4_OK;
// sanity check parameters
if ((_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) ||
(_param_fw_airspd_max.get() < 5.0f) ||
(_param_fw_airspd_min.get() > 100.0f) ||
(_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;
if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max smaller than min");
check_ret = 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;
}
return check_ret;
}
void