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docs/failure_injection: motor off requires CA_FAILURE_MODE to be set

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Matthias Grob 2025-09-26 11:02:40 +02:00
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42
docs/en/debug/failure_injection.md
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@ -9,7 +9,7 @@ Failure injection is disabled by default, and can be enabled using the [SYS_FAIL
Failure injection still in development.
At time of writing (PX4 v1.14):
- It can only be used in simulation (support for both failure injection in real flight is planned).
- Support may vary by failure type and between simulatiors and real vehicle.
- It requires support in the simulator.
It is supported in Gazebo Classic
- Many failure types are not broadly implemented.
@ -33,31 +33,31 @@ where:
- _component_:
- Sensors:
- `gyro`: Gyro.
- `accel`: Accelerometer.
- `gyro`: Gyroscope
- `accel`: Accelerometer
- `mag`: Magnetometer
- `baro`: Barometer
- `gps`: GPS
- `gps`: Global navigation satellite system
- `optical_flow`: Optical flow.
- `vio`: Visual inertial odometry.
- `vio`: Visual inertial odometry
- `distance_sensor`: Distance sensor (rangefinder).
- `airspeed`: Airspeed sensor.
- `airspeed`: Airspeed sensor
- Systems:
- `battery`: Battery.
- `motor`: Motor.
- `servo`: Servo.
- `avoidance`: Avoidance.
- `rc_signal`: RC Signal.
- `mavlink_signal`: MAVLink signal (data telemetry).
- `battery`: Battery
- `motor`: Motor
- `servo`: Servo
- `avoidance`: Avoidance
- `rc_signal`: RC Signal
- `mavlink_signal`: MAVLink data telemetry connection
- _failure_type_:
- `ok`: Publish as normal (Disable failure injection).
- `off`: Stop publishing.
- `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
- `garbage`: Publish random noise. This looks like reading uninitialized memory.
- `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
- `slow`: Publish at a reduced rate.
- `delayed`: Publish valid data with a significant delay.
- `intermittent`: Publish intermittently.
- `ok`: Publish as normal (Disable failure injection)
- `off`: Stop publishing
- `stuck`: Constantly report the same value which _can_ happen on a malfunctioning sensor
- `garbage`: Publish random noise. This looks like reading uninitialized memory
- `wrong`: Publish invalid values that still look reasonable/aren't "garbage"
- `slow`: Publish at a reduced rate
- `delayed`: Publish valid data with a significant delay
- `intermittent`: Publish intermittently
- _instance number_ (optional): Instance number of affected sensor.
0 (default) indicates all sensors of specified type.
@ -65,7 +65,7 @@ where:
To simulate losing RC signal without having to turn off your RC controller:
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
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. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh