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failure_detector: allow disabling attitude failure (as already documented)

This commit is contained in:
Beat Küng 2022-05-04 09:47:59 +02:00
parent bf68d3433e
commit 82eb71d70b
2 changed files with 4 additions and 4 deletions
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4
src/modules/commander/failure_detector/FailureDetector.cpp
View File

@ -221,8 +221,8 @@ void FailureDetector::updateAttitudeStatus()
const float max_roll(fabsf(math::radians(max_roll_deg)));
const float max_pitch(fabsf(math::radians(max_pitch_deg)));
const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
const bool roll_status = (max_roll > FLT_EPSILON) && (fabsf(roll) > max_roll);
const bool pitch_status = (max_pitch > FLT_EPSILON) && (fabsf(pitch) > max_pitch);
hrt_abstime time_now = hrt_absolute_time();

4
src/modules/commander/failure_detector/failure_detector_params.c
View File

@ -53,7 +53,7 @@
*
* Setting this parameter to 0 disables the check
*
* @min 60
* @min 0
* @max 180
* @unit deg
* @group Failure Detector
@ -71,7 +71,7 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
*
* Setting this parameter to 0 disables the check
*
* @min 60
* @min 0
* @max 180
* @unit deg
* @group Failure Detector