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
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
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
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
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
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
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
Claudio Micheli
6358dd400a
failure detector: added esc failures detection
...
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2020-07-01 08:55:54 +02:00
Jacob Dahl
d08ec05bab
PWM automatic trigger system (ATS) for parachutes ( #13726 )
...
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
2020-01-06 20:14:06 -05:00
bresch
6139812293
FailureDetector - use standard topic subscription for attitude topic and
...
pass vehicle_status from commander instead of subscribing to it.
2019-09-24 14:17:58 +02:00
bresch
000c1e364c
FailureDetector - Ignore attitude check for MC in acro and rattude, and FW in manual, acro and rattitude modes
2019-09-24 14:17:58 +02:00
bresch
ac4458460d
FailureDetector - update hysteresis to comply with new interface
2019-06-05 16:53:08 +02:00
bresch
33a94c8191
Failure detector - change snake_case function names to camelCase
2019-06-05 16:53:08 +02:00
bresch
38345be41a
FailureDetector - Add roll and pitch failures hysteresis
2019-06-05 16:53:08 +02:00
bresch
2ca8ddd8af
Parameter update - Rename variables in modules/commander
...
using parameter_update.py script
2019-04-03 15:38:50 +02:00
Daniel Agar
48d9484ceb
commander fix and enforce code style
2018-11-28 20:42:03 -05:00
bresch
9be0c97346
Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class
2018-08-28 11:23:25 -04:00
bresch
c4c8e8d2db
Failure Detector - Various cleanup and style changes.
...
- use pragma once guard in FailureDetector.hpp
- send Commander parent to ModuleParams and remove update_params() method
- simplify attitude checks
- FailureDetector::get_status() (previously named "get") is now a constant method that returns a constant reference
2018-08-28 11:23:25 -04:00
bresch
4e1027f292
FailureDetector - Add check for non-zero roll/pitch failure parameters. Rename 'result' into 'updated'
2018-08-28 11:23:25 -04:00
bresch
7908f75b8b
FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded.
2018-08-28 11:23:25 -04:00
