MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8

src/lib/parameters/param_translation.cpp

@@ -42,6 +42,15 @@
 
 bool param_modify_on_import(bson_node_t node)
 {
+	// migrate MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME (2020-12-03). This can be removed after the next release (current release=1.11)
+	if (node->type == BSON_DOUBLE) {
+		if (strcmp("MPC_SPOOLUP_TIME", node->name) == 0) {
+			strcpy(node->name, "COM_SPOOLUP_TIME");
+			PX4_INFO("param migrating MPC_SPOOLUP_TIME (removed) -> COM_SPOOLUP_TIME: value=%.3f", node->d);
+			return true;
+		}
+	}
+
 	// migrate COM_ARM_AUTH -> COM_ARM_AUTH_ID, COM_ARM_AUTH_MET and COM_ARM_AUTH_TO (2020-11-06). This can be removed after the next release (current release=1.11)
 	if (node->type == BSON_INT32) {
 		if (strcmp("COM_ARM_AUTH", node->name) == 0) {

src/modules/commander/Commander.cpp

@@ -2721,8 +2721,8 @@ Commander::run()
 
 			if (_arm_state_machine.isArmed()) {
 				if (fd_status_flags.arm_escs) {
-					// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
-					if (hrt_elapsed_time(&_vehicle_status.armed_time) < 500_ms) {
+					// Checks have to pass within the spool up time
+					if (hrt_elapsed_time(&_vehicle_status.armed_time) < _param_com_spoolup_time.get() * 1_s) {
 						disarm(arm_disarm_reason_t::failure_detector);
 						mavlink_log_critical(&_mavlink_log_pub, "ESCs did not respond to arm request\t");
 						events::send(events::ID("commander_fd_escs_not_arming"), events::Log::Critical, "ESCs did not respond to arm request");

src/modules/commander/Commander.hpp

@@ -258,7 +258,9 @@ private:
 		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
 
 		(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max,
-		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max
+		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max,
+
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)
 
 	// optional parameters

src/modules/commander/commander_params.c

@@ -1023,6 +1023,22 @@ PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
  */
 PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1);
 
+/**
+ * Enforced delay between arming and further navigation
+ *
+ * The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.
+ * Goal:
+ * - Motors and propellers spool up to idle speed before getting commanded to spin faster
+ * - Timeout for ESCs and smart batteries to successfulyy do failure checks
+ *   e.g. for stuck rotors before the vehicle is off the ground
+ *
+ * @group Commander
+ * @min 0
+ * @max 5
+ * @unit s
+ */
+PARAM_DEFINE_FLOAT(COM_SPOOLUP_TIME, 1.0f);
+
 /**
  * Wind speed warning threshold
  *

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -269,7 +269,7 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c
 		bool is_esc_failure = !is_all_escs_armed;
 
 		for (int i = 0; i < limited_esc_count; i++) {
-			is_esc_failure = is_esc_failure | (esc_status.esc[i].failures > 0);
+			is_esc_failure = is_esc_failure || (esc_status.esc[i].failures > 0);
 		}
 
 		_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -234,7 +234,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 		_param_mpc_tko_speed.set(math::min(_param_mpc_tko_speed.get(), _param_mpc_z_vel_max_up.get()));
 		_param_mpc_land_speed.set(math::min(_param_mpc_land_speed.get(), _param_mpc_z_vel_max_dn.get()));
 
-		_takeoff.setSpoolupTime(_param_mpc_spoolup_time.get());
+		_takeoff.setSpoolupTime(_param_com_spoolup_time.get());
 		_takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get());
 		_takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get());
 	}

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -147,7 +147,7 @@ private:
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
 
 		// Takeoff / Land
-		(ParamFloat<px4::params::MPC_SPOOLUP_TIME>) _param_mpc_spoolup_time, /**< time to let motors spool up after arming */
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
 		(ParamFloat<px4::params::MPC_TKO_RAMP_T>)   _param_mpc_tko_ramp_t,   /**< time constant for smooth takeoff ramp */
 		(ParamFloat<px4::params::MPC_TKO_SPEED>)    _param_mpc_tko_speed,
 		(ParamFloat<px4::params::MPC_LAND_SPEED>)   _param_mpc_land_speed,

src/modules/mc_pos_control/Takeoff/Takeoff.hpp

@@ -94,7 +94,7 @@ public:
 private:
 	TakeoffState _takeoff_state = TakeoffState::disarmed;
 
-	systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed
+	systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true COM_SPOOLUP_TIME seconds after the vehicle was armed
 
 	float _takeoff_ramp_time{0.f};
 	float _takeoff_ramp_vz_init{0.f}; ///< verticval velocity resulting in zero thrust

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -780,22 +780,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
  */
 PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
 
-/**
- * Enforced delay between arming and takeoff
- *
- * For altitude controlled modes the time from arming the motors until
- * a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds
- * to ensure the motors and propellers can sppol up and reach idle speed before
- * getting commanded to spin faster. This delay is particularly useful for vehicles
- * with slow motor spin-up e.g. because of large propellers.
- *
- * @min 0
- * @max 10
- * @unit s
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
-
 /**
  * Yaw mode.
  *