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ensure motor faults are cleared

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ttechnick 2026-02-10 09:22:02 +01:00 committed by Matthias Grob
parent 15f5a18629
commit e9874b6f05
1 changed files with 5 additions and 5 deletions
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10
src/modules/commander/failure_detector/FailureDetector.cpp
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@ -81,7 +81,7 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
}
// Run motor status checks even when no new ESC data arrives (to detect timeouts)
if (_param_fd_act_en.get() && _esc_status_received) {
if (_esc_status_received) {
updateMotorStatus(vehicle_status, _last_esc_status);
}
@ -346,13 +346,13 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_fd_act_mot_tout.get() * 1_ms);
_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_fd_act_mot_tout.get() * 1_ms);
if (_esc_has_reported_current[i] && !_esc_undercurrent_hysteresis[i].get_state()) {
// Do not clear because a reaction could be to stop the motor and that would be conidered healty again
if (!_esc_undercurrent_hysteresis[i].get_state()) {
// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again
_esc_undercurrent_hysteresis[i].set_state_and_update(thrust_above_threshold && current_too_low && !timeout, now);
}
if (_esc_has_reported_current[i] && !_esc_overcurrent_hysteresis[i].get_state()) {
// Do not clear because a reaction could be to stop the motor and that would be conidered healty again
if (!_esc_overcurrent_hysteresis[i].get_state()) {
// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again
_esc_overcurrent_hysteresis[i].set_state_and_update(current_too_high && !timeout, now);
}