From fea91c96e86497b3b5d7fdd85004897708c0926d Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 9 Aug 2018 15:54:47 +0200
Subject: [PATCH] Failure Detector - Use dedicated parameters for attitude
 checks

---
 src/modules/commander/commander_params.c      | 24 +++++++++++++++++++
 .../failure_detector/FailureDetector.hpp      |  4 ++--
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 0dfce7dabe..f3f0077189 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -746,6 +746,30 @@ PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
  */
 PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
 
+/**
+ * FailureDetector Max Roll
+ *
+ * Maximum roll angle before FailureDetector triggers the attitude_failure flag
+ * Does not affect the behavior of the vehicle for now; only for logging
+ * @min 0
+ * @max 180
+ * @unit degrees
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FAIL_R, 60);
+
+/**
+ * FailureDetector Max Pitch
+ *
+ * Maximum pitch angle before FailureDetector triggers the attitude_failure flag
+ * Does not affect the behavior of the vehicle for now; only for logging
+ * @min 0
+ * @max 180
+ * @unit degrees
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FAIL_P, 60);
+
 /**
  * Next flight UUID
  *
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index d753a91efd..059c5416bd 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -72,8 +72,8 @@ public:
 private:
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::VT_FW_QC_P>) _fail_trig_pitch,
-		(ParamInt<px4::params::VT_FW_QC_R>) _fail_trig_roll
+		(ParamInt<px4::params::COM_FAIL_P>) _fail_trig_pitch,
+		(ParamInt<px4::params::COM_FAIL_R>) _fail_trig_roll
 	)
 
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