FailureDetector: increase threshold for valid current to 1A

[sfuhrer]

Solved Problem

We have false positive motor failure detection due to wrong, tiny current measurement.

Solution

Not declare the current measurement valid if never above 1A

Changelog Entry

For release notes:

Improvement: Reduce chance of false-positive motor failure detection by discarding any current measurement below 1A

Alternatives

The 1A threshold is very arbitrary, can be changed. We're also investigating the ESC side, where the wrong measurement comes from.

Test coverage

Untested

[dawr68]

ESC used in this flight doesn't support current measurement for individual motors.
Value of 0.1A sounds more resonable for me - it will allow it to pass on a bench (motors off) - when current is usually below 1A.

[dakejahl]

It might make more sense to use the esc_status.esc_armed_flags instead of esc_status.esc[x].esc_current. Because I think what we really want is "only trigger failure detector if an ESC goes offline (telem timeout) after it's already been in use".

If that's not the case, and instead we simply want to detect when an ESC goes offline, we can just use the esc_online_flags and telem timeout.

[github-actions]

This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.