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

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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
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src/modules/commander/PreflightCheck.cpp
+1 -1
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 {
src/modules/commander/failure_detector/failure_detector_params.c
+12 -2
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