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75 Commits

Author SHA1 Message Date
ttechnick c5652b2084 escChecks: param reorg 
Reorganise parameters
fix esc & motor indices
set failsafe flags
 2026-03-12 18:30:51 +01:00
ttechnick 96c5c7ba02 work on: feed back checks to commander 2026-03-12 18:30:51 +01:00
ttechnick e9874b6f05 ensure motor faults are cleared 2026-03-12 18:30:51 +01:00
ttechnick 15f5a18629 uavcan: cleanup 2026-03-12 18:30:51 +01:00
ttechnick b2ea7ffab6 fd: reorganise motor & esc failures 2026-03-12 18:30:51 +01:00
ttechnick 9f978b05f3 uavcan: unify timeout handling 2026-03-12 18:30:51 +01:00
Ege Kural a5c67b90a9 CI: enable clang-tidy bugprone-incorrect-roundings (#26574) 
switched to lroundf and included cmath in all



removed std namespace - quick tested

Signed-off-by: kuralme <kuralme@protonmail.com>
 2026-02-24 13:16:33 -09:00
Matthias Grob ca0dec5a33 uavcan esc handling review suggestions 2026-02-20 15:16:43 +01:00
ttechnick 8478503349 uavcan: remove redundant loop 2026-02-20 15:16:43 +01:00
ttechnick 6a18fd045f uavcan: cleanup & node_status fix 
uavcan: esc fault handling review suggestions

uavcan: fix node status & cleanup
 2026-02-20 15:16:43 +01:00
Nick dbb00d500f Update src/modules/commander/failure_detector/FailureDetector.cpp 
Prevent Buffer overflow
 2026-02-09 18:08:26 +01:00
Matthias Grob 61a8ae80a6 FailureDetector: implement upper and lower current limit with offset 2026-02-09 18:08:26 +01:00
Matthias Grob f8329ff80d FailureDetector: rework motor status check 2026-02-09 18:08:26 +01:00
Matthias Grob b4b1b44c6a FailureDetector: consistent timestamp naming 2026-02-09 18:08:26 +01:00
Matthias Grob 540e80eb77 FilaureDetector: publish failure_detector_status in class and call that from commander 2025-10-23 09:23:45 +02:00
Matthias Grob 2adc36b2af FailureDetector: write out status veriable name for clarity 2025-10-23 09:23:45 +02:00
Matthias Grob 70eecf6070 FailureDetector: adhere to the parameter naming convention 2025-10-23 09:23:45 +02:00
Matthias Grob babe094d06 FailureDetector: use robust timeout checks for motor failure detection (#25757) 2025-10-14 10:46:29 -08:00
Matthias Grob e59afce5db Enable directly injecting motor failures using e.g. failure motor off -i 1 
Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.
 2025-09-30 11:23:09 +02:00
Matthias Grob 786e0a12c2 FailureInjector simplification rework 2025-09-30 11:23:09 +02:00
Matthias Grob 7f2a67a588 Commander: split out failure injection class into its own file 2025-09-30 11:23:09 +02:00
alexklimaj 602042dd5c failure detector use per index esc current 2024-09-30 10:11:34 +02:00
Silvan Fuhrer 07531d29b7 FailureDetector: fix attitude check for tailsitter 
-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Thomas Stastny c5dc1221b6 failure detector: use multiplication instead of division 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2022-11-30 14:51:07 -05:00
Thomas Stastny 4e8381e8cf failure detector: negative guard sqrt in std dev calc 2022-11-30 14:51:07 -05:00
Thomas Stastny eb80e0410c failure detector: fix imbalanced prop metric time interval 2022-11-30 14:51:07 -05:00
Junwoo Hwang 32ae00fd44 Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729) 
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
 2022-07-07 16:15:11 +02:00
Martina Rivizzigno 55563eba49 MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME 2022-06-24 19:44:43 +02:00
Beat Küng d1142008f6 FailureDetector: check if ESCs have current 
And increase the timeout to 300ms, as some ESCs only update with 10Hz.
 2022-06-04 07:40:29 +02:00
Beat Küng 82eb71d70b failure_detector: allow disabling attitude failure (as already documented) 2022-06-04 07:40:29 +02:00
Matthias Grob 4bd2d4cf35 rc_update: add unit tests for mode slot 
To verify RC mode switch and mode button functionality works as expected.
 2022-05-16 14:37:29 +02:00
Beat Küng 0f860045f7 failure_detector: add failure injector class for motor telemetry 
This allows to test motor failures via 'failure motor off -i 1' on a real
system.
 2022-05-12 07:58:56 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
bresch 953c90d3a6 failure detector: change imbalanced propeller metric 
Use standard deviations instead of variances to get a linear metric
 2022-01-18 12:24:35 -05:00
bresch 408cf011b2 failure detector: fix dt computation 2022-01-18 12:24:35 -05:00
Julian Oes 2445fa8b4c commander: prevent uninitialized warning 
This prevents a memory sanitizer/valgrind warning:

Conditional jump or move depends on uninitialised value(s)
   at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4)
   by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605)
   by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)
 2022-01-05 10:53:51 +01:00
bresch 1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch 5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
Silvan Fuhrer 40f9b53b90 Remove a couple of unnecessary reboot_required from parameter meta data 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-08-13 10:35:43 -04:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel Agar a11d2207e4 commander: simplify failure detector is attitude stabilized check 2021-03-09 10:47:00 -05:00
Daniel Agar bb12fce66c delete RATTITUDE flight mode 2021-03-09 10:47:00 -05:00
Matthias Grob 981e05c633 FailureDetector: move esc topic check into esc status update 2020-09-08 11:42:30 +02:00
Matthias Grob c180e09b9a FailureDetector: replace resetAttitudeStatus 2020-09-08 11:42:30 +02:00
Matthias Grob 390edb770d Commander: separate failure detector cases 
One case could lead to the action for the other!
 2020-09-08 11:42:30 +02:00
Matthias Grob f47bb95b26 FailureDetector: remove obsolete bit switch checks 2020-09-08 11:42:30 +02:00
Matthias Grob c9b81eaf08 FailureDetector: simplify updated/changed check 2020-09-08 11:42:30 +02:00
Matthias Grob 2bb5917188 FailureDetector: refactor naming, member order 2020-09-08 11:42:30 +02:00
Hamish Willee 979243f38f params: make parameter units more consistent (#15502) 2020-08-24 11:33:08 +02:00