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Commander: make optional tilt-check after takeoff (failure detector).

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- Introduced COM_LKDOWN_TKO parameter
    - Introduced auto disarm for lockdown state
    - Do not trigger flight termiantion if system is in lockdown

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2020-07-01 08:55:54 +02:00
committed by Mathieu Bresciani
parent 6358dd400a
commit a7f2f2908b
3 changed files with 27 additions and 5 deletions
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src/modules/commander/commander_params.c
+16
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@@ -924,3 +924,19 @@ PARAM_DEFINE_FLOAT(COM_CPU_MAX, 90.0f);
* @max 4
*/
PARAM_DEFINE_INT32(COM_POWER_COUNT, 1);
/**
* Timeout for detecting a failure after takeoff
*
* A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into
* a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
* The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW), Rattitude and Manual (FW).
* A zero or negative value means that the check is disabled.
*
* @group Commander
* @unit s
* @min -1.0
* @max 5.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f);