Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-10-18 03:13:34 +08:00 · 2025-03-13 16:08:27 +11:00
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+# 시스템 장애 주입
+
+System failure injection allows you to induce different types of sensor and system failures, either programmatically using the [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html), or "manually" via a PX4 console like the [MAVLink shell](../debug/mavlink_shell.md#mavlink-shell).
+This enables easier testing of [safety failsafe](../config/safety.md) behaviour, and more generally, of how PX4 behaves when systems and sensors stop working correctly.
+
+Failure injection is disabled by default, and can be enabled using the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
+
+:::warning
+Failure injection still in development.
+At time of writing (PX4 v1.14):
+
+- 시뮬레이션에서만 사용할 수 있습니다(실제 비행에서 실패 주입 모두 지원 예정).
+- It requires support in the simulator.
+  It is supported in Gazebo Classic
+- 많은 실패 유형이 광범위하게 구현되지 않았습니다.
+  이러한 경우 명령은 "지원되지 않는" 메시지와 함께 반환됩니다.
+
+:::
+
+## 장애 시스템 명령
+
+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.
+
+### 구문
+
+The full syntax of the [failure](../modules/modules_command.md#failure) command is:
+
+```sh
+failure <component> <failure_type> [-i <instance_number>]
+```
+
+여기서:
+
+- _component_:
+  - 센서:
+    - `gyro`: Gyro.
+    - `accel`: Accelerometer.
+    - `mag`: Magnetometer
+    - `baro`: Barometer
+    - `gps`: GPS
+    - `optical_flow`: Optical flow.
+    - `vio`: Visual inertial odometry.
+    - `distance_sensor`: Distance sensor (rangefinder).
+    - `airspeed`: Airspeed sensor.
+  - 시스템:
+    - `battery`: Battery.
+    - `motor`: Motor.
+    - `servo`: Servo.
+    - `avoidance`: Avoidance.
+    - `rc_signal`: RC Signal.
+    - `mavlink_signal`: MAVLink signal (data telemetry).
+- _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. 초기화되지 않은 메모리를 읽는 것처럼 보입니다.
+  - `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 (기본값) 지정된 유형의 모든 센서를 나타냅니다.
+
+### 예
+
+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).
+2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
+
+   ```sh
+   # Fail RC (turn publishing off)
+   failure rc_signal off
+
+   # Restart RC publishing
+   failure rc_signal ok
+   ```
+
+## MAVSDK 실패 플러그인
+
+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)).
+
+The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.