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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
This commit is contained in:
PX4BuildBot
@@ -33,7 +33,6 @@ Similarly, PX4 can also run natively Raspberry Pi (this approach is not generall
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- [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md)
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- [Raspberry Pi 2/3/4 PilotPi Shield](../flight_controller/raspberry_pi_pilotpi.md)
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## Commercial UAVs that can run PX4
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PX4 is available on many popular commercial drone products, including some that ship with PX4 and others that can be updated with PX4 (allowing you to add mission planning and other PX4 Flight modes to your vehicle).
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@@ -1,7 +1,8 @@
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# LED Meanings (Pixhawk Series)
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[Pixhawk-series flight controllers](../flight_controller/pixhawk_series.md) use LEDs to indicate the current status of the vehicle.
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- The [UI LED](#ui_led) provides user-facing status information related to *readiness for flight*.
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- The [UI LED](#ui_led) provides user-facing status information related to _readiness for flight_.
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- The [Status LEDs](#status_led) provide status for the PX4IO and FMU SoC.
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They indicate power, bootloader mode and activity, and errors.
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@@ -9,7 +10,7 @@
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## UI LED
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The RGB *UI LED* indicates the current *readiness for flight* status of the vehicle.
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The RGB _UI LED_ indicates the current _readiness for flight_ status of the vehicle.
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This is typically a superbright I2C peripheral, which may or may not be mounted on the flight controller board (i.e. FMUv4 does not have one on board, and typically uses an LED mounted on the GPS).
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The image below shows the relationship between LED and vehicle status.
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@@ -19,47 +20,45 @@ It is possible to have a GPS lock (Green LED) and still not be able to arm the v
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:::
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:::tip
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In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in *QGroundControl* including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
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In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
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Also check that the GPS module is properly attached, Pixhawk is reading your GPS properly, and that the GPS is sending a proper GPS position.
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:::
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- **[Solid Blue] Armed, No GPS Lock:** Indicates vehicle has been armed and has no position lock from a GPS unit.
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When vehicle is armed, PX4 will unlock control of the motors, allowing you to fly your drone.
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As always, exercise caution when arming, as large propellers can be dangerous at high revolutions.
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Vehicle cannot perform guided missions in this mode.
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* **[Solid Blue] Armed, No GPS Lock:** Indicates vehicle has been armed and has no position lock from a GPS unit.
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When vehicle is armed, PX4 will unlock control of the motors, allowing you to fly your drone.
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As always, exercise caution when arming, as large propellers can be dangerous at high revolutions.
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Vehicle cannot perform guided missions in this mode.
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- **[Pulsing Blue] Disarmed, No GPS Lock:** Similar to above, but your vehicle is disarmed.
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This means you will not be able to control motors, but all other subsystems are working.
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* **[Pulsing Blue] Disarmed, No GPS Lock:** Similar to above, but your vehicle is disarmed.
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This means you will not be able to control motors, but all other subsystems are working.
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- **[Solid Green] Armed, GPS Lock:** Indicates vehicle has been armed and has a valid position lock from a GPS unit.
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When vehicle is armed, PX4 will unlock control of the motors, allowing you to fly your drone.
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As always, exercise caution when arming, as large propellers can be dangerous at high revolutions.
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In this mode, vehicle can perform guided missions.
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* **[Solid Green] Armed, GPS Lock:** Indicates vehicle has been armed and has a valid position lock from a GPS unit.
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When vehicle is armed, PX4 will unlock control of the motors, allowing you to fly your drone.
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As always, exercise caution when arming, as large propellers can be dangerous at high revolutions.
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In this mode, vehicle can perform guided missions.
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* **[Pulsing Green] Disarmed, GPS Lock:** Similar to above, but your vehicle is disarmed.
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- **[Pulsing Green] Disarmed, GPS Lock:** Similar to above, but your vehicle is disarmed.
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This means you will not be able to control motors, but all other subsystems including GPS position lock are working.
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* **[Solid Purple] Failsafe Mode:** This mode will activate whenever vehicle encounters an issue during flight,
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such as losing manual control, a critically low battery, or an internal error.
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During failsafe mode, vehicle will attempt to return to its takeoff location, or may simply descend where it currently is.
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- **[Solid Purple] Failsafe Mode:** This mode will activate whenever vehicle encounters an issue during flight,
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such as losing manual control, a critically low battery, or an internal error.
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During failsafe mode, vehicle will attempt to return to its takeoff location, or may simply descend where it currently is.
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* **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low.
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After a certain point, vehicle will go into failsafe mode. However, this mode should signal caution that it's time to end
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this flight.
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* **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying.
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Attach your autopilot to a Ground Control Station to verify what the problem is.
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If you have completed the setup process and autopilot still appears as red and flashing, there may be another error.
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- **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low.
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After a certain point, vehicle will go into failsafe mode. However, this mode should signal caution that it's time to end
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this flight.
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- **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying.
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Attach your autopilot to a Ground Control Station to verify what the problem is.
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If you have completed the setup process and autopilot still appears as red and flashing, there may be another error.
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<a id="status_led"></a>
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## Status LED
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Three *Status LEDs* provide status for the FMU SoC, and three more provide status for the PX4IO (if present).
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Three _Status LEDs_ provide status for the FMU SoC, and three more provide status for the PX4IO (if present).
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They indicate power, bootloader mode and activity, and errors.
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@@ -67,11 +66,11 @@ They indicate power, bootloader mode and activity, and errors.
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From power on, the FMU and PX4IO CPUs first run the bootloader (BL) and then the application (APP).
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The table below shows how the Bootloader and then APP use the LEDs to indicate condition.
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Color | Label | Bootloader usage | APP usage
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--- | --- | --- | ---
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Blue | ACT (Activity) | Flutters when the bootloader is receiving data | Indication of ARM state
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Red/Amber | B/E (In Bootloader / Error) | Flutters when in the bootloader | Indication of an ERROR
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Green |PWR (Power) | Not used by bootloader | Indication of ARM state
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| Color | Label | Bootloader usage | APP usage |
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| --------- | --------------------------- | ---------------------------------------------- | ----------------------- |
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| Blue | ACT (Activity) | Flutters when the bootloader is receiving data | Indication of ARM state |
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| Red/Amber | B/E (In Bootloader / Error) | Flutters when in the bootloader | Indication of an ERROR |
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| Green | PWR (Power) | Not used by bootloader | Indication of ARM state |
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::: info
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The LED labels shown above are commonly used, but might differ on some boards.
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@@ -79,11 +78,11 @@ The LED labels shown above are commonly used, but might differ on some boards.
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More detailed information for how to interpret the LEDs is given below (where "x" means "any state")
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Red/Amber | Blue | Green | Meaning
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--- | --- | --- | ---
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10Hz | x | x | Overload CPU load > 80%, or RAM usage > 98%
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OFF | x | x | Overload CPU load <= 80%, or RAM usage <= 98%
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NA | OFF | 4 Hz| actuator_armed->armed && failsafe
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NA | ON | 4 Hz | actuator_armed->armed && !failsafe
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NA | OFF |1 Hz | !actuator_armed-> armed && actuator_armed->ready_to_arm
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NA | OFF |10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm
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| Red/Amber | Blue | Green | Meaning |
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| --------- | ---- | ----- | ------------------------------------------------------- |
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| 10Hz | x | x | Overload CPU load > 80%, or RAM usage > 98% |
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| OFF | x | x | Overload CPU load <= 80%, or RAM usage <= 98% |
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| NA | OFF | 4 Hz | actuator_armed->armed && failsafe |
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| NA | ON | 4 Hz | actuator_armed->armed && !failsafe |
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| NA | OFF | 1 Hz | !actuator_armed-> armed && actuator_armed->ready_to_arm |
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| NA | OFF | 10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm |
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@@ -9,16 +9,16 @@ The set of standard sounds are listed below.
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You can search for tune use using the string `TUNE_ID_name`(e.g. `TUNE_ID_PARACHUTE_RELEASE)
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:::
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## Boot/Startup
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These tunes are played during the boot sequence.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS -->
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS -->
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#### Startup Tone
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<audio controls><source src="../../assets/tunes/1_startup_tone.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- tune: 1, STARTUP -->
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- microSD card successfully mounted (during boot).
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@@ -26,36 +26,37 @@ These tunes are played during the boot sequence.
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#### Error Tune
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<audio controls><source src="../../assets/tunes/2_error_tune.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- tune 2, ERROR_TUNE -->
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- Hard fault has caused a system reboot.
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- System set to use PX4IO but no IO present.
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- UAVCAN is enabled but driver can't start.
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- SITL/HITL enabled but *pwm_out_sim* driver can't start.
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- SITL/HITL enabled but _pwm_out_sim_ driver can't start.
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- FMU startup failed.
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#### Make File System
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<audio controls><source src="../../assets/tunes/16_make_fs.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 14, SD_INIT (previously tune 16) -->
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- Formatting microSD card.
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- Formatting microSD card.
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- Mounting failed (if formatting succeeds boot sequence will try to mount again).
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- No microSD card.
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#### Format Failed
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<audio controls><source src="../../assets/tunes/17_format_failed.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 15, SD_ERROR (previously 17) -->
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- Formatting microSD card failed (following previous attempt to mount card).
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#### Program PX4IO
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#### Program PX4IO
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<audio controls><source src="../../assets/tunes/18_program_px4io.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 16, PROG_PX4IO (previously id 18) -->
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- Starting to program PX4IO.
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@@ -63,6 +64,7 @@ These tunes are played during the boot sequence.
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#### Program PX4IO Success
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<audio controls><source src="../../assets/tunes/19_program_px4io_success.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 17, PROG_PX4IO_OK (previously tune 19) -->
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- PX4IO programming succeeded.
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@@ -70,21 +72,23 @@ These tunes are played during the boot sequence.
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#### Program PX4IO Fail
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<audio controls><source src="../../assets/tunes/20_program_px4io_fail.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 18, PROG_PX4IO_ERR (previously tune 20) -->
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- PX4IO programming failed.
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- PX4IO couldn't start.
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- AUX Mixer not found.
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## Operational
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These tones/tunes are emitted during normal operation.
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<a id="error_tune_operational"></a>
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#### Error Tune
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<audio controls><source src="../../assets/tunes/2_error_tune.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 2, ERROR_TUNE -->
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- RC Loss
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@@ -92,6 +96,7 @@ These tones/tunes are emitted during normal operation.
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#### Notify Positive Tone
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<audio controls><source src="../../assets/tunes/3_notify_positive_tone.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 3, NOTIFY_POSITIVE -->
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- Calibration succeeded.
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@@ -102,6 +107,7 @@ These tones/tunes are emitted during normal operation.
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#### Notify Neutral Tone
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<audio controls><source src="../../assets/tunes/4_notify_neutral_tone.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 4, NOTIFY_NEUTRAL -->
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- Mission is valid and has no warnings.
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@@ -111,6 +117,7 @@ These tones/tunes are emitted during normal operation.
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#### Notify Negative Tone
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<audio controls><source src="../../assets/tunes/5_notify_negative_tone.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 5, NOTIFY_NEGATIVE -->
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- Calibration failed.
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@@ -123,6 +130,7 @@ These tones/tunes are emitted during normal operation.
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#### Arming Warning
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<audio controls><source src="../../assets/tunes/6_arming_warning.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 6, ARMING_WARNING -->
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- Vehicle is now armed.
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@@ -130,6 +138,7 @@ These tones/tunes are emitted during normal operation.
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#### Arming Failure Tune
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<audio controls><source src="../../assets/tunes/10_arming_failure_tune.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 10, ARMING_FAILURE -->
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- Arming failed
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@@ -137,6 +146,7 @@ These tones/tunes are emitted during normal operation.
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#### Battery Warning Slow
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<audio controls><source src="../../assets/tunes/7_battery_warning_slow.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 7, BATTERY_WARNING_SLOW -->
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- Low battery warning ([failsafe](../config/safety.md#battery-level-failsafe)).
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@@ -144,27 +154,29 @@ These tones/tunes are emitted during normal operation.
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#### Battery Warning Fast
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<audio controls><source src="../../assets/tunes/8_battery_warning_fast.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 8, BATTERY_WARNING_FAST -->
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- Critical low battery warning ([failsafe](../config/safety.md#battery-level-failsafe)).
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#### GPS Warning Slow
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<audio controls><source src="../../assets/tunes/9_gps_warning_slow.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 9, GPS_WARNING -->
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#### Parachute Release
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<audio controls><source src="../../assets/tunes/11_parachute_release.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 11, PARACHUTE_RELEASE -->
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- Parachute release triggered.
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#### Single Beep
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<audio controls><source src="../../assets/tunes/14_single_beep.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 12, SINGLE_BEEP (previously was id 14 -->
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- Magnetometer/Compass calibration: Notify user to start rotating vehicle.
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@@ -172,6 +184,7 @@ These tones/tunes are emitted during normal operation.
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#### Home Set Tune
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<audio controls><source src="../../assets/tunes/15_home_set_tune.mp3" type="audio/mpeg">Your browser does not support the audio element.</audio>
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<!-- 13, HOME_SET (previously id 15) -->
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- Home position initialised (first time only).
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@@ -7,6 +7,6 @@ In addition, PX4 provides more fine-grained information about readiness to fly i
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The LED, tune, and GCS notifications are linked below:
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* [LED Meanings](../getting_started/led_meanings.md)
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* [Tune/Sound Meanings](../getting_started/tunes.md)
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* [QGroundControl Flight-Readiness Status](../flying/pre_flight_checks.md)
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- [LED Meanings](../getting_started/led_meanings.md)
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- [Tune/Sound Meanings](../getting_started/tunes.md)
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- [QGroundControl Flight-Readiness Status](../flying/pre_flight_checks.md)
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Reference in New Issue
Block a user