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feat(failure_detector): unite motorfailure offsets (#26990)

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* feat(failure_detector): unite motorfailure offsets

* docs: update docs/en/config/safety.md

* docs: Update src/modules/commander/HealthAndArmingChecks/esc_check_params.yaml

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Nick
2026-05-07 17:20:32 +02:00
committed by GitHub
parent a1726d316a
commit 6d0de7379b
4 changed files with 11 additions and 23 deletions
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docs/en/config/safety.md
+5 -5
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@@ -339,22 +339,22 @@ The relevant parameters are shown below:
### Motor Failure Trigger
The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected bounds for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected threshold for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
Motor failures are non-latching: if the failure condition clears, the failure is cleared.
The undercurrent and overcurrent conditions are defined by:
```text
undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_LOW_OFF}
overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_HIGH_OFF}
undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_OFF}
overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF}
```
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
| <a id="MOTFAIL_LOW_OFF"></a>[MOTFAIL_LOW_OFF](../advanced_config/parameter_reference.md#MOTFAIL_LOW_OFF) | Undercurrent detection threshold offset (A). Subtracted from the expected current to form the lower bound. |
| <a id="MOTFAIL_HIGH_OFF"></a>[MOTFAIL_HIGH_OFF](../advanced_config/parameter_reference.md#MOTFAIL_HIGH_OFF) | Overcurrent detection threshold offset (A). Added to the expected current to form the upper bound. |
| <a id="MOTFAIL_OFF"></a>[MOTFAIL_OFF](../advanced_config/parameter_reference.md#MOTFAIL_OFF) | Under/over-current detection threshold offset (A). Added to the expected current to form the upper bound. Subtracted from the expected current to form the lower bound. |
|
| <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME) | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered. |
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+2 -2
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@@ -250,8 +250,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
thrust = fabsf(actuator_motors.control[actuator_function_index]);
}
bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_low_off.get();
bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_high_off.get();
bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_off.get();
bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_off.get();
_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);
_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);
src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+1 -2
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@@ -76,6 +76,5 @@ private:
(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
(ParamFloat<px4::params::MOTFAIL_TIME>) _param_motfail_time,
(ParamFloat<px4::params::MOTFAIL_LOW_OFF>) _param_motfail_low_off,
(ParamFloat<px4::params::MOTFAIL_HIGH_OFF>) _param_motfail_high_off);
(ParamFloat<px4::params::MOTFAIL_OFF>) _param_motfail_off);
};
src/modules/commander/HealthAndArmingChecks/esc_check_params.yaml
+3 -14
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@@ -26,21 +26,10 @@ parameters:
unit: A/%
decimal: 2
increment: 1
MOTFAIL_LOW_OFF:
MOTFAIL_OFF:
description:
short: Undercurrent motor failure limit offset
long: threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
type: float
default: 10.0
min: 0
max: 30
unit: A
decimal: 2
increment: 1
MOTFAIL_HIGH_OFF:
description:
short: Overcurrent motor failure limit offset
long: threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
short: Under/over-current motor failure limit offset
long: Check is triggered if `abs(FD_ACT_MOT_C2T * thrust - FD_ACT_OFF)` is above this value.
type: float
default: 10.0
min: 0