From 4d2170c13ea4d42c5b0b464dbbcbb68fb098cbcc Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 26 Sep 2025 11:02:40 +0200 Subject: [PATCH] docs/failure_injection: motor off requires `CA_FAILURE_MODE` to be set --- docs/en/debug/failure_injection.md | 42 +++++++++++++++--------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/docs/en/debug/failure_injection.md b/docs/en/debug/failure_injection.md index c704982dc3..217a2b7ffb 100644 --- a/docs/en/debug/failure_injection.md +++ b/docs/en/debug/failure_injection.md @@ -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