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134 lines
19 KiB
Markdown
134 lines
19 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FailsafeFlags (UORB message)
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Input flags for the failsafe state machine set by the arming & health checks.
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Flags must be named such that false == no failure (e.g. \_invalid, \_unhealthy, \_lost)
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The flag comments are used as label for the failsafe state machine simulation
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**TOPICS:** failsafe_flags
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| mode_req_angular_velocity | `uint32` | | | |
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| mode_req_attitude | `uint32` | | | |
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| mode_req_local_alt | `uint32` | | | |
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| mode_req_local_position | `uint32` | | | |
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| mode_req_local_position_relaxed | `uint32` | | | |
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| mode_req_global_position | `uint32` | | | |
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| mode_req_global_position_relaxed | `uint32` | | | |
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| mode_req_mission | `uint32` | | | |
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| mode_req_offboard_signal | `uint32` | | | |
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| mode_req_home_position | `uint32` | | | |
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| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
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| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
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| mode_req_manual_control | `uint32` | | | |
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| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
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| angular_velocity_invalid | `bool` | | | Angular velocity invalid |
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| attitude_invalid | `bool` | | | Attitude invalid |
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| local_altitude_invalid | `bool` | | | Local altitude invalid |
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| local_position_invalid | `bool` | | | Local position estimate invalid |
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| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
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| local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
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| global_position_invalid | `bool` | | | Global position estimate invalid |
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| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
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| auto_mission_missing | `bool` | | | No mission available |
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| offboard_control_signal_lost | `bool` | | | Offboard signal lost |
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| home_position_invalid | `bool` | | | No home position available |
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| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
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| gcs_connection_lost | `bool` | | | GCS connection lost |
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| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
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| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
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| battery_unhealthy | `bool` | | | Battery unhealthy |
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| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
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| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
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| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
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| fd_motor_failure | `bool` | | | Motor failure |
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| geofence_breached | `bool` | | | Geofence breached (one or multiple) |
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| mission_failure | `bool` | | | Mission failure |
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| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
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| wind_limit_exceeded | `bool` | | | Wind limit exceeded |
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| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
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| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
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| navigator_failure | `bool` | | | Navigator failed to execute a mode |
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| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg)
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:::details
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Click here to see original file
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```c
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# Input flags for the failsafe state machine set by the arming & health checks.
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#
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# Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
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# The flag comments are used as label for the failsafe state machine simulation
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uint64 timestamp # time since system start (microseconds)
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# Per-mode requirements
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uint32 mode_req_angular_velocity
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uint32 mode_req_attitude
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uint32 mode_req_local_alt
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uint32 mode_req_local_position
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uint32 mode_req_local_position_relaxed
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uint32 mode_req_global_position
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uint32 mode_req_global_position_relaxed
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uint32 mode_req_mission
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uint32 mode_req_offboard_signal
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uint32 mode_req_home_position
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uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
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uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
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uint32 mode_req_manual_control
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uint32 mode_req_other # other requirements, not covered above (for external modes)
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# Mode requirements
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bool angular_velocity_invalid # Angular velocity invalid
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bool attitude_invalid # Attitude invalid
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bool local_altitude_invalid # Local altitude invalid
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bool local_position_invalid # Local position estimate invalid
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bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
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bool local_velocity_invalid # Local velocity estimate invalid
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bool global_position_invalid # Global position estimate invalid
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bool global_position_invalid_relaxed # Global position estimate invalid with relaxed accuracy requirements
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bool auto_mission_missing # No mission available
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bool offboard_control_signal_lost # Offboard signal lost
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bool home_position_invalid # No home position available
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# Control links
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bool manual_control_signal_lost # Manual control (RC) signal lost
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bool gcs_connection_lost # GCS connection lost
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# Battery
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uint8 battery_warning # Battery warning level (see BatteryStatus.msg)
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bool battery_low_remaining_time # Low battery based on remaining flight time
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bool battery_unhealthy # Battery unhealthy
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# Failure detector
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bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
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bool fd_esc_arming_failure # ESC failed to arm
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bool fd_imbalanced_prop # Imbalanced propeller detected
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bool fd_motor_failure # Motor failure
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# Other
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bool geofence_breached # Geofence breached (one or multiple)
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bool mission_failure # Mission failure
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bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
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bool wind_limit_exceeded # Wind limit exceeded
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bool flight_time_limit_exceeded # Maximum flight time exceeded
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bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
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bool navigator_failure # Navigator failed to execute a mode
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bool parachute_unhealthy # Parachute system missing or unhealthy
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```
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:::
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