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34 lines
1.4 KiB
Markdown
34 lines
1.4 KiB
Markdown
# Failsafe State Machine Simulation
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<Badge type="tip" text="PX4 v1.14" />
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This page can be used to simulate the actions of the PX4 failsafe state machine under all possible configurations and conditions.
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The simulation runs the same code in the browser as is executed on the vehicle, in real-time (the simulation is automatically kept in sync with the latest version of the code).
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Note that any delayed action (`COM_FAIL_ACT_T`) will also be delayed in the simulation.
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To use it:
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1. First configure the parameters on the left.
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The initial values correspond to the PX4 defaults.
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2. Set the vehicle type
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3. Set the other values in the **State** or any of the flags under **Conditions**
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- The **Intended Mode** corresponds to the commanded mode via RC or GCS (or external script).
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The failsafe state machine can override this in case of a failsafe.
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4. Check the action under **Output**
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5. Check what happens when changing mode or **Move the RC sticks**
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6. Play with different settings and conditions!
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The simulation can also be executed locally in order to test a specific version or set of changes:
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```sh
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make run_failsafe_web_server
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```
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<iframe :src="withBase('/config/failsafe/index.html')" frameborder="0" height="1400px" style="text-align: center; margin-left: -20px; margin-right: -230px;" width="1200"></iframe>
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<script setup>
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import { withBase } from 'vitepress';
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</script>
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