Allow position failsafe sensitivity to be adjusted for different platform types #7842
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Would it be more intuitive for users to enter the params in units of seconds? We can also add minimum and maximum metadata to limit it in QGC. Appropriate default values for FW can be placed here. https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/rc.fw_defaults#L11 |
| * The probation delay is number of uSec that the EKF innovation checks need to pass for the positon to be declared good once it has been declared bad. | ||
| * The probation delay will be reset to this parameter value when takeoff is detected. | ||
| * After takeoff, if position checks are passing, the probation delay will reduce by one uSec for every lapsed uSec of valid position down to a minimum of 1E6 uSec. | ||
| * If position checks are failing, the probation delay will increase by COM_POS_FS_FACT micro seconds for every lapsed uSec up to a maximum of 100E6 uSec. |
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Should COM_POS_FS_FACT be COM_POS_FS_GAIN?
I'd vote "yes".
Also vote "yes" here.
This seem very important, as the defaults for VTOL are very bad for fixed wing. The FW defaults suggested in the code comments seem like good defaults to add to the rc.fw_defaults. Relying on users to set them appropriately is too risky for an important failsafe such as this. |
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Also, for fixed wing applications I might consider setting COM_POS_FS_GAIN = 0. Overall I think the arguments for "probation" on fixed wing are outweighed by the benefits of using position immediately once available. Would be interested in others opinions here. |
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@Antiheavy Thinking about your comment about COM_POS_FS_GAIN I agree. Now that fixed wing has the ability to recover from a bad magnetometer at launch by resetting the heading using GPS, we can afford to exit the failsafe soon after that the EKF has completed its reset because it is much less likely that the GPS rejection will be repeated. |
This is required because the hardcoded values were too sensitive for fixed wing use and bad initial mag heading could trigger the failsafe and lead to crashes on launch. The defaults have been left unchanged. Suitable values for fixed wing use will need to be implemented in the airframe specific config file.
Change units of parameters from uSec to sec. Change recommended FW value for COM_POS_FS_GAIN from 2 to 0 Fix error in parameter description for COM_POS_FS_PROB Fix error in unit for COM_POS_FS_GAIN
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The description for the parameters created contain recommended values for fixed wing platforms.
Partially addresses #7609