| Failure Detector失控检测 | ||||
| 名称 | 参数描述 | [Min, Max] (Incr.) | 默认值 | 单位 |
| FD_ACT_EN (INT32) | Enable Actuator Failure check//启用执行器故障检查 | Enabled (1) | ||
| Comment: If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure. | ||||
| Reboot required: true | ||||
| FD_ACT_MOT_C2T (FLOAT) | Motor Failure Current/Throttle Threshold//电机故障电流/油门最小值 | [0.0, 50.0] (1) | 2 | A/% |
| Comment: Motor failure triggers only below this current value | ||||
| FD_ACT_MOT_THR (FLOAT) | Motor Failure Throttle Threshold //电机故障最大油门值 | [0.0, 1.0] (0.01) | 0.2 | norm |
| Comment: Motor failure triggers only above this throttle value. | ||||
| FD_ACT_MOT_TOUT (INT32) | Motor Failure Time Threshold//电机故障时间阈值 | [10, 10000] (100) | 100 | ms |
| Comment: Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time. | ||||
| FD_ESCS_EN (INT32) | Enable checks on ESCs that report their arming state//对电子调速器（ESCs）解锁状态，启用检查 | Enabled (1) | ||
| Comment: If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle. | ||||
| FD_EXT_ATS_EN (INT32) | Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)//启用脉宽调制（PWM）输入，以便接入来自外部自动触发系统（ATS）的故障安全装置 | Disabled (0) | ||
| Comment: Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18. | ||||
| Reboot required: true | ||||
| FD_EXT_ATS_TRIG (INT32) | The PWM threshold from external automatic trigger system for engaging failsafe//用于启动故障安全模式的外部自动触发系统的脉冲宽度调制（PWM）阈值 | 1900 | µs | |
| Comment: External ATS is required by ASTM F3322-18. | ||||
| FD_FAIL_P (INT32) | FailureDetector Max Pitch//故障检测器的最大俯仰角 | [0, 180] | 60 | deg |
| Comment: Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check | ||||
| FD_FAIL_P_TTRI (FLOAT) | Pitch failure trigger time//俯仰故障判定最长时间 | [0.02, 5] | 0.3 | s |
| Comment: Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure. | ||||
| FD_FAIL_R (INT32) | FailureDetector Max Roll //故障检测最大横滚角 | [0, 180] | 60 | deg |
| Comment: Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check | ||||
| FD_FAIL_R_TTRI (FLOAT) | Roll failure trigger time //横滚故障判定最长时间 | [0.02, 5] | 0.3 | s |
| Comment: Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure. | ||||
| FD_IMB_PROP_THR (INT32) | Imbalanced propeller check threshold//不平衡螺旋桨检查阈值 | [0, 1000] (1) | 30 | |
| Comment: Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature. | ||||