From 82eb71d70bc33ad031698b91e7b091539c924279 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 4 May 2022 09:47:59 +0200 Subject: [PATCH] failure_detector: allow disabling attitude failure (as already documented) --- src/modules/commander/failure_detector/FailureDetector.cpp | 4 ++-- .../commander/failure_detector/failure_detector_params.c | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 0e564b10a4..118171dc62 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -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(); diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c index 60ee007477..e472c304b8 100644 --- a/src/modules/commander/failure_detector/failure_detector_params.c +++ b/src/modules/commander/failure_detector/failure_detector_params.c @@ -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