failure_detector_params.yaml

module_name: failure_detector
parameters:
- group: Failure Detector
  definitions:
    FD_FAIL_R:
      description:
        short: FailureDetector Max Roll
        long: |-
          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
      type: int32
      default: 60
      min: 0
      max: 180
      unit: deg
    FD_FAIL_P:
      description:
        short: FailureDetector Max Pitch
        long: |-
          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
      type: int32
      default: 60
      min: 0
      max: 180
      unit: deg
    FD_FAIL_R_TTRI:
      description:
        short: Roll failure trigger time
        long: Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered
          as a failure.
      type: float
      default: 0.3
      unit: s
      min: 0.02
      max: 5
      decimal: 2
    FD_FAIL_P_TTRI:
      description:
        short: Pitch failure trigger time
        long: Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered
          as a failure.
      type: float
      default: 0.3
      unit: s
      min: 0.02
      max: 5
      decimal: 2
    FD_EXT_ATS_EN:
      description:
        short: Enable PWM input from external ATS for failsafe
        long: |-
          Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)

          Enabled on either AUX5 or MAIN5 depending on board.
          External ATS is required by ASTM F3322-18.
      type: boolean
      default: 0
      reboot_required: true
    FD_EXT_ATS_TRIG:
      description:
        short: External ATS PWM threshold for failsafe
        long: |-
          The PWM threshold from external automatic trigger system for engaging failsafe

          External ATS is required by ASTM F3322-18.
      type: int32
      default: 1900
      unit: us
      decimal: 2
    FD_IMB_PROP_THR:
      description:
        short: Imbalanced propeller check threshold
        long: |-
          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.
      type: int32
      default: 30
      min: 0
      max: 1000
      increment: 1
    FD_ALT_LOSS:
      description:
        short: Altitude loss threshold for termination and parachute deployment
        long: |-
          Maximum altitude loss below the setpoint allowed before the vehicle terminates and deploys the parachute. Set to 0 to disable.
      type: float
      default: 0.0
      min: 0.0
      max: 200.0
      unit: m
      decimal: 1
      increment: 0.5
    FD_ALT_LOSS_T:
      description:
        short: Altitude loss failure trigger time
        long: |-
          Seconds that the altitude loss threshold must be exceeded before the failure is declared.
      type: float
      default: 1.0
      min: 0.02
      max: 5.0
      unit: s
      decimal: 2