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refactor(commander): remove unused parameter COM_LKDOWN_TKO

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Matthias Grob 2026-03-18 20:38:52 +01:00
parent 197a1a6214
commit ea4dc6ac08
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GPG Key ID: 8924BFB060E86D63
4 changed files with 4 additions and 21 deletions
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1
docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
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@ -307,7 +307,6 @@
1 1 COM_HOME_EN 1 6
1 1 COM_HOME_IN_AIR 0 6
1 1 COM_IMB_PROP_ACT 0 6
1 1 COM_LKDOWN_TKO 3.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_OBC_LOSS_T 5.000000000000000000 9
1 1 COM_OBL_RC_ACT 0 6

14
src/modules/commander/commander_params.yaml
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@ -575,20 +575,6 @@ parameters:
default: 1
min: 0
max: 4
COM_LKDOWN_TKO:
description:
short: Timeout for detecting a failure after takeoff
long: |-
A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle
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) and Manual (FW).
A zero or negative value means that the check is disabled.
type: float
default: 3.0
unit: s
min: -1.0
max: 5.0
decimal: 3
COM_ARM_SDCARD:
description:
short: Enable FMU SD card detection check

9
src/modules/commander/failsafe/failsafe.cpp
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@ -607,8 +607,9 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
// Handle fails during spoolup just after arming
if ((_armed_time != 0)
&& (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
const hrt_abstime spoolup = static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s);
if ((_armed_time != 0) && (time_us < _armed_time + spoolup)
) {
_last_state_fd_esc_arming = checkFailsafe(_caller_id_fd_esc_arming, _last_state_fd_esc_arming,
status_flags.fd_esc_arming_failure,
@ -619,9 +620,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
}
// Handle fails during the early takeoff phase
if ((_armed_time != 0)
&& (time_us < _armed_time
+ static_cast<hrt_abstime>((_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s))
if ((_armed_time != 0) && (time_us < _armed_time + spoolup + 3_s)
) {
CHECK_FAILSAFE(status_flags, fd_critical_failure, ActionOptions(Action::Disarm).cannotBeDeferred());

1
src/modules/commander/failsafe/failsafe.h
View File

@ -201,7 +201,6 @@ private:
(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
(ParamInt<px4::params::COM_ACT_FAIL_ACT>) _param_com_actuator_failure_act,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,