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1fcd5b466f
- add fd_servo to failure detector status - inside control allocation: if one axis is no longer controllable with servos then enable auxiliary motors for it's control (VTOL only) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
17 lines
536 B
Plaintext
17 lines
536 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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# FailureDetector status
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bool fd_roll
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bool fd_pitch
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bool fd_alt
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bool fd_ext
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bool fd_arm_escs
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bool fd_battery
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bool fd_imbalanced_prop
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bool fd_motor
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bool fd_servo
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float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
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uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
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uint16 servo_failure_mask # Bit-mask with servo indices, indicating critical servo failures
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