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docs/zh/debug/failure_injection.md
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@@ -19,7 +19,7 @@ At time of writing (PX4 v1.14):
## Failure System Command
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.
### Syntax
@@ -61,11 +61,18 @@ where:
- _instance number_ (optional): Instance number of affected sensor.
0 (default) indicates all sensors of specified type.
### Example
## MAVSDK Failure Plugin
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.
## Example: RC signal
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). 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 @@ To simulate losing RC signal without having to turn off your RC controller:
failure rc_signal ok
```
## MAVSDK Failure Plugin
## 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:
The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
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
```