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Commander: remove COM_POS_FS_DELAY #24063

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merged 1 commit into from
Dec 3, 2024
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@MaEtUgR MaEtUgR commented Dec 2, 2024

Solved Problem

When answering a support question I found that currently COM_POS_FS_DELAY configures the timeout for the internal vehicle_local_position uORB message which is to my knowledge not expected to time out as long as the estimator is running since it gets published regularly also when the position (or altitude) is flagged invalid.

A user-configurable timeout for the internal vehicle_local_position seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.

Solution

I remove the parameter and hardcode the timeout for the vehicle_local_position to 1 second.

Changelog Entry

Remove deprecated `COM_POS_FS_DELAY`

Alternatives

Is the estimate published so much less often when dead-reckoning as fixed-wing? If yes, shouldn't that fact then not be represented within the uORB message instead of a user-facing parameter?

Test coverage

No particular tests done.

Context

The end-user was looking to delay the failsafe land when the local position gets invalid and found a match with the parameter description but it didn't work as expected.

A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
@MaEtUgR MaEtUgR requested a review from sfuhrer December 2, 2024 15:16
@MaEtUgR MaEtUgR self-assigned this Dec 2, 2024
@MaEtUgR MaEtUgR marked this pull request as ready for review December 2, 2024 15:16
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github-actions bot commented Dec 2, 2024

FLASH Analysis

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  -0.0%     -12  [ = ]       0    ../../src/lib/parameters/parameters.cpp
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  -0.8%    -440  [ = ]       0    ../../src/modules/commander/UserModeIntention.cpp
  -1.0%    -851  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
-0.0% -4.98Ki  -0.0%    -136    TOTAL

Updated: 2024-12-02T15:22:12

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@sfuhrer sfuhrer left a comment

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I so far never touched COM_POS_FS_DELAY, the fixed-wing dead-reckoning behavior is tuned with COM_POS_FS_EPH. Wouldn't know when you'd want to set this to anything else than 1 so I agree with removing it.

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@bresch bresch left a comment

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This sets number of seconds that the position checks need to be failed before the failsafe will activate

Looks like the original implementation was a failsafe reaction delay, not just a timeout. 1s timeout on the local position message is reasonable and does not need to depend on the vehicle type (they all run the same estimator with same data rates).

@MaEtUgR MaEtUgR merged commit d416cd2 into main Dec 3, 2024
59 of 62 checks passed
@MaEtUgR MaEtUgR deleted the maetugr/remove-COM_POS_FS_DELAY branch December 3, 2024 16:31
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hamishwillee commented Dec 3, 2024

@MaEtUgR This is referenced in https://docs.px4.io/main/en/config/safety.html#position-gnss-loss-failsafe - what change is needed? Is it simply that after 1s of not having a position estimate the failsafe triggers?

Or to put it another way, does this capture what is needed in the docs PX4/PX4-user_guide#3479

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4 participants