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Commander: remove COM_POS_FS_DELAY #24063

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merged 1 commit into from
Dec 3, 2024
+2 −18
Merged

Commander: remove COM_POS_FS_DELAY #24063

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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/rc.fw_defaults
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
#
# Default parameters for fixed wing UAVs.
#
param set-default COM_POS_FS_DELAY 5

# there is a 2.5 factor applied on the _FS thresholds if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_VEL_FS_EVH 3
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4 changes: 2 additions & 2 deletions src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
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Expand Up @@ -813,7 +813,7 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f


// altitude
failsafe_flags.local_altitude_invalid = !lpos.z_valid || (now > lpos.timestamp + (_param_com_pos_fs_delay.get() * 1_s));
failsafe_flags.local_altitude_invalid = !lpos.z_valid || (now > lpos.timestamp + 1_s);


// attitude
Expand Down Expand Up @@ -864,7 +864,7 @@ bool EstimatorChecks::checkPosVelValidity(const hrt_abstime &now, const bool dat
const bool was_valid) const
{
bool valid = was_valid;
const bool data_stale = (now > data_timestamp_us + _param_com_pos_fs_delay.get() * 1_s) || (data_timestamp_us == 0);
const bool data_stale = (now > data_timestamp_us + 1_s) || (data_timestamp_us == 0);
const float req_accuracy = (was_valid ? required_accuracy * 2.5f : required_accuracy);
const bool level_check_pass = data_valid && !data_stale && (data_accuracy < req_accuracy);

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1 change: 0 additions & 1 deletion src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
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Expand Up @@ -118,7 +118,6 @@ class EstimatorChecks : public HealthAndArmingCheckBase
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
(ParamFloat<px4::params::COM_POS_LOW_EPH>) _param_com_low_eph,
(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act
)
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13 changes: 0 additions & 13 deletions src/modules/commander/commander_params.c
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Expand Up @@ -512,19 +512,6 @@ PARAM_DEFINE_INT32(COM_ARM_AUTH_MET, 0);
*/
PARAM_DEFINE_FLOAT(COM_ARM_AUTH_TO, 1);

/**
* Loss of position failsafe activation delay.
*
* This sets number of seconds that the position checks need to be failed before the failsafe will activate.
* The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
*
* @unit s
* @group Commander
* @min 1
* @max 100
*/
PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);

/**
* Horizontal position error threshold.
*
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