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# FailureDetectorStatus (UORB message)

**TOPICS:** failure_detector_status

## Fields

| Name                   | Type      | Unit [Frame] | Range/Enum | Description                                                     |
| ---------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------- |
| timestamp              | `uint64`  |              |            | time since system start (microseconds)                          |
| fd_roll                | `bool`    |              |            |
| fd_pitch               | `bool`    |              |            |
| fd_alt                 | `bool`    |              |            |
| fd_ext                 | `bool`    |              |            |
| fd_arm_escs            | `bool`    |              |            |
| fd_battery             | `bool`    |              |            |
| fd_imbalanced_prop     | `bool`    |              |            |
| fd_motor               | `bool`    |              |            |
| imbalanced_prop_metric | `float32` |              |            | Metric of the imbalanced propeller check (low-passed)           |
| motor_failure_mask     | `uint16`  |              |            | Bit-mask with motor indices, indicating critical motor failures |
| motor_stop_mask        | `uint16`  |              |            | Bitmaks of motors stopped by failure injection                  |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)

::: details Click here to see original file

```c
uint64 timestamp                    # time since system start (microseconds)

# FailureDetector status
bool fd_roll
bool fd_pitch
bool fd_alt
bool fd_ext
bool fd_arm_escs
bool fd_battery
bool fd_imbalanced_prop
bool fd_motor

float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
uint16 motor_stop_mask              # Bitmaks of motors stopped by failure injection
```

:::
