Failure Detector - Use dedicated parameters for attitude checks

src/modules/commander/commander_params.c

@@ -746,6 +746,30 @@ PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
  */
 PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
 
+/**
+ * FailureDetector Max Roll
+ *
+ * Maximum roll angle before FailureDetector triggers the attitude_failure flag
+ * Does not affect the behavior of the vehicle for now; only for logging
+ * @min 0
+ * @max 180
+ * @unit degrees
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FAIL_R, 60);
+
+/**
+ * FailureDetector Max Pitch
+ *
+ * Maximum pitch angle before FailureDetector triggers the attitude_failure flag
+ * Does not affect the behavior of the vehicle for now; only for logging
+ * @min 0
+ * @max 180
+ * @unit degrees
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FAIL_P, 60);
+
 /**
  * Next flight UUID
  *

src/modules/commander/failure_detector/FailureDetector.hpp

@@ -72,8 +72,8 @@ public:
 private:
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::VT_FW_QC_P>) _fail_trig_pitch,
-		(ParamInt<px4::params::VT_FW_QC_R>) _fail_trig_roll
+		(ParamInt<px4::params::COM_FAIL_P>) _fail_trig_pitch,
+		(ParamInt<px4::params::COM_FAIL_R>) _fail_trig_roll
 	)
 
 	// Subscriptions