Enable directly injecting motor failures using e.g. failure motor off -i 1

Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.
2026-05-13 16:57:35 +08:00 · 2025-08-28 16:14:51 +02:00
parent 786e0a12c2
commit e59afce5db
8 changed files with 44 additions and 4 deletions
@@ -19,3 +19,4 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                        # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.

 uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection