# 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):

- Support may vary by failure type and between simulatiors and real vehicle.
- 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](../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.

### 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`: Gyroscope
    - `accel`: Accelerometer
    - `mag`: Magnetometer
    - `baro`: Barometer
    - `gps`: Global navigation satellite system
    - `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 data telemetry connection
- _failure_type_:
  - `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 (기본값) 지정된 유형의 모든 센서를 나타냅니다.

## 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.

## Example: RC signal

To simulate losing RC signal without having to turn off your RC controller:

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
   # Fail RC (turn publishing off)
   failure rc_signal off

   # Restart RC publishing
   failure rc_signal ok
   ```

## Example: Motor

To stop a motor mid-flight without the system anticipating it or excluding it from allocation effectiveness:

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
   ```