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docs/uk/debug/failure_injection.md
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@@ -19,7 +19,7 @@ Failure injection still in development.
## Команда системи збою
Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 console/shell, specifying both the target and type of the failure.
Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 [console/shell](../debug/consoles.md) (such as the [QGC MAVLink Console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console) or SITL _pxh shell_), specifying both the target and type of the failure.
### Синтаксис
@@ -61,11 +61,18 @@ failure <component> <failure_type> [-i <instance_number>]
- _instance number_ (optional): Instance number of affected sensor.
0 (за замовчуванням) вказує на всі сенсори вказаного типу.
### Example
## MAVSDK відлагоджувальний плагін
The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
API плагіна - це пряме відображення команди збою, показаної вище, з деякими додатковими сигналами про помилки, пов'язані з підключенням.
## Example: RC signal
Щоб симулювати втрату сигналу RC без вимкнення вашого пульта керування RC:
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh
@@ -76,9 +83,18 @@ failure <component> <failure_type> [-i <instance_number>]
failure rc_signal ok
```
## MAVSDK відлагоджувальний плагін
## Example: Motor
The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
To stop a motor mid-flight without the system anticipating it or excluding it from allocation effectiveness:
API плагіна - це пряме відображення команди збою, показаної вище, з деякими додатковими сигналами про помилки, пов'язані з підключенням.
1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
2. Enable [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) parameter to allow turning off motors.
3. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh
# Turn off first motor
failure motor off -i 1
# Turn it back on
failure motor ok -i 1
```