Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 07:09:48 +08:00
Code Issues Actions 16 Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/config/safety.md
+5 -5
View File
@@ -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. |