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failure_detector: add motor/ESC failure detection

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This commit is contained in:
Alessandro Simovic
2022-05-12 07:58:56 +02:00
committed by Beat Küng
parent dfd934fbdb
commit fb71e7587c
25 changed files with 338 additions and 441 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+4 -3
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@@ -581,9 +581,10 @@ void FixedwingAttitudeControl::Run()
_wheel_ctrl.reset_integrator();
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust_body[0])
&& !_vehicle_status.engine_failure) ? _att_sp.thrust_body[0] : 0.0f;
/* throttle passed through if it is finite */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust_body[0])) ?
_att_sp.thrust_body[0] :
0.0f;
/* scale effort by battery status */
if (_param_fw_bat_scale_en.get() &&