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escCheck: Change MOTFAIL_TIME unit to seconds for better UX

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This commit is contained in:
Matthias Grob
2026-02-23 14:42:53 +01:00
parent fb9f8d1835
commit a9461c4d1a
3 changed files with 9 additions and 9 deletions
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5
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
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@@ -75,7 +75,6 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
esc_status_s esc_status;
// Run motor status checks even when no new ESC data arrives (to detect timeouts)
if (_esc_status_sub.copy(&esc_status)) {
if (esc_status.esc_count <= 0) {
@@ -257,8 +256,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
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();
_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
_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);
if (!_esc_undercurrent_hysteresis[i].get_state()) {
// Only set, never clear mid-air: stopping the motor in response could make it appear healthy again

2
src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
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@@ -73,7 +73,7 @@ private:
(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,
(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
(ParamInt<px4::params::MOTFAIL_TIME>) _param_motfail_time,
(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);
};

11
src/modules/commander/HealthAndArmingChecks/esc_check_params.c
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@@ -95,9 +95,10 @@ PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
* Motor failure only triggers after current thresholds are exceeded for this time.
*
* @group Motor Failure
* @unit ms
* @min 10
* @max 10000
* @increment 100
* @unit s
* @min 0.01
* @max 10
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_INT32(MOTFAIL_TIME, 1000);
PARAM_DEFINE_FLOAT(MOTFAIL_TIME, 1.f);