fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description

Browse Source
This commit is contained in:
bresch 2018-12-20 15:25:41 +01:00 committed by Beat Küng
parent 81bb7888de
commit a72de95c94
3 changed files with 14 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/circuit_breaker/circuit_breaker_params.c
View File

@ -113,7 +113,7 @@ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
* @category Developer
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 0);
PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212);
/**
* Circuit breaker for engine failure detection

2
src/modules/commander/PreflightCheck.cpp
View File

@ -679,7 +679,7 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
bool success = true;
if (!prearm) {
// Ignore power check after arming.
// Ignore failure detector check after arming.
return true;
} else {

14
src/modules/commander/failure_detector/failure_detector_params.c
View File

@ -46,7 +46,12 @@
* FailureDetector Max Roll
*
* Maximum roll angle before FailureDetector triggers the attitude_failure flag
* Does not affect the behavior of the vehicle for now; only for logging
* If flight termination is enabled (@CBRK_FLIGHTTERM set to zero), the autopilot
* will terminate the flight and set all the outputs to their failsafe value
* as soon as the attitude_failure flag is set.
*
* Setting this parameter to 0 disables the check
*
* @min 0
* @max 180
* @unit degrees
@ -58,7 +63,12 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
* FailureDetector Max Pitch
*
* Maximum pitch angle before FailureDetector triggers the attitude_failure flag
* Does not affect the behavior of the vehicle for now; only for logging
* If flight termination is enabled (@CBRK_FLIGHTTERM set to zero), the autopilot
* will terminate the flight and set all the outputs to their failsafe value
* as soon as the attitude_failure flag is set.
*
* Setting this parameter to 0 disables the check
*
* @min 0
* @max 180
* @unit degrees