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RC Loss failsafe param docs

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This commit is contained in:
Hamish Willee 2022-07-26 20:11:09 -07:00
parent 97f632a408
commit fbda20e2a9
1 changed files with 15 additions and 9 deletions
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24
src/modules/commander/commander_params.c
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@ -131,7 +131,10 @@ PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
/**
* RC loss time threshold
*
* After this amount of seconds without RC connection it's considered lost and not used anymore
* If the RC signal does not update for this number of seconds the RC connection is considered lost
* (during this interval data from the last RC update is still used).
* If the connection is lost, PX4 will enter Hold mode and wait for COM_RCL_ACT_T seconds
* to recover the connection before triggering the failsafe action (COM_RCL_ACT_T).
*
* @group Commander
* @unit s
@ -143,11 +146,13 @@ PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
/**
* Delay between RC loss and configured reaction
* Delay between RC loss and configured action
*
* RC signal not updated -> still use data for COM_RC_LOSS_T seconds
* Consider RC signal lost -> wait COM_RCL_ACT_T seconds in Hold mode to regain signal
* React with failsafe action NAV_RCL_ACT
* If the RC signal does not update for COM_RC_LOSS_T seconds the RC connection is considered lost
* (during this interval data from the last RC update is still used).
* If the connection is lost, PX4 will enter Hold mode and wait for COM_RCL_ACT_T seconds
* to recover the connection before triggering the failsafe action (NAV_RCL_ACT).
* If the signal is regained PX4 will return to the previous mode.
*
* A zero value disables the delay.
*
@ -818,11 +823,12 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
/**
* Set RC loss failsafe mode
* Set RC loss failsafe action (mode).
*
* The RC loss failsafe will only be entered after a timeout,
* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
* by setting the COM_RC_IN_MODE param it will not be triggered.
* The RC loss failsafe will only be entered if the RC connection is not recovered before first the
* RC signal loss theshold timeout (COM_RC_LOSS_T) and then the RC connection lost timeout (NAV_RCL_ACT) have triggered.
* The action will not be triggered if RC input checks have been disabled (COM_RC_IN_MODE)
* or if RC loss exceptions are disabled for the current mode (COM_RCL_EXCEPT).
*
* @value 1 Hold mode
* @value 2 Return mode