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Commander: trigger failsafe action if imbalanced propeller detected

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This commit is contained in:
bresch
2021-11-05 09:45:52 -04:00
committed by Daniel Agar
parent 5dfb8e594a
commit b8ed457371
5 changed files with 90 additions and 0 deletions
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src/modules/commander/Commander.hpp
+2
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@@ -211,6 +211,7 @@ private:
(ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
@@ -322,6 +323,7 @@ private:
FailureDetector _failure_detector;
bool _flight_termination_triggered{false};
bool _lockdown_triggered{false};
bool _imbalanced_propeller_check_triggered{false};
hrt_abstime _datalink_last_heartbeat_gcs{0};