FailureDetector - Ignore attitude check for MC in acro and FW in manual, acro and rattitude modes #12655
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What about using vehicle_control_mode directly? https://github.com/PX4/Firmware/blob/e43e37cc46ef74da0fa86bfe2a9b470c9c472467/msg/vehicle_control_mode.msg#L10 Rattitude would be the special case, but I think we could change it slightly to have |
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@dagar Since the check is fairly simple here, I don't see the advantage of changing the meaning of the |
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…nd FW in manual, acro and rattitude modes
pass vehicle_status from commander instead of subscribing to it.
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bkueng
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Sep 24, 2019
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The FailureDetector currently checks for attitude that exceeds a defined angle. This is done regardless the flight mode.
I added a check for acro in MC and acro+rattitude+manual mode in FW to ignore the attitude failure checks as the drone is expected to exceed the defined angles.
Briefly test in SITL.