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fix: conditional CRASH_CHECK_TRIGGER_SEC value

This commit is contained in:
Jędrzej Stasik 2024-07-12 08:50:46 +02:00 committed by Andrew Tridgell
parent 6293780ace
commit abd43aea59
1 changed files with 8 additions and 2 deletions
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10
ArduCopter/crash_check.cpp
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@ -1,7 +1,13 @@
#include "Copter.h"
// Code to detect a crash main ArduCopter code
#define CRASH_CHECK_TRIGGER_SEC 2 // 2 seconds inverted indicates a crash
#if PARACHUTE == ENABLED
// CRASH_CHECK_TRIGGER_SEC should be grater than CHUTE_TIMEOUT, to prevent disarming without deploying parachute
#define CRASH_CHECK_TRIGGER_SEC parachute.get_chute_timeout() + 1.0f
#else
#define CRASH_CHECK_TRIGGER_SEC 2 // 2 seconds inverted indicates a crash
#endif
#define CRASH_CHECK_ANGLE_DEVIATION_DEG 30.0f // 30 degrees beyond target angle is signal we are out of control
#define CRASH_CHECK_ANGLE_MIN_DEG 15.0f // vehicle must be leaning at least 15deg to trigger crash check
#define CRASH_CHECK_SPEED_MAX 10.0f // vehicle must be moving at less than 10m/s to trigger crash check
@ -86,7 +92,7 @@ void Copter::crash_check()
// we may be crashing
crash_counter++;
// check if crashing for 2 seconds
// check if crashing for time defined by CRASH_CHECK_TRIGGER_SEC seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
// send message to gcs