mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
51 lines
2.1 KiB
Markdown
51 lines
2.1 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# FailureDetectorStatus (UORB message)
|
|
|
|
**TOPICS:** failure_detector_status
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ---------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| fd_roll | `bool` | | |
|
|
| fd_pitch | `bool` | | |
|
|
| fd_alt | `bool` | | |
|
|
| fd_ext | `bool` | | |
|
|
| fd_arm_escs | `bool` | | |
|
|
| fd_battery | `bool` | | |
|
|
| fd_imbalanced_prop | `bool` | | |
|
|
| fd_motor | `bool` | | |
|
|
| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) |
|
|
| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures |
|
|
| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
# FailureDetector status
|
|
bool fd_roll
|
|
bool fd_pitch
|
|
bool fd_alt
|
|
bool fd_ext
|
|
bool fd_arm_escs
|
|
bool fd_battery
|
|
bool fd_imbalanced_prop
|
|
bool fd_motor
|
|
|
|
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
|
|
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
|
|
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
|
|
```
|
|
|
|
:::
|