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52 lines
3.6 KiB
Markdown
52 lines
3.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FailureDetectorStatus (UORB message)
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**TOPICS:** failure_detector_status
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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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| fd_roll | `bool` | | | |
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| fd_pitch | `bool` | | | |
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| fd_alt | `bool` | | | |
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| fd_ext | `bool` | | | |
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| fd_arm_escs | `bool` | | | |
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| fd_battery | `bool` | | | |
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| fd_imbalanced_prop | `bool` | | | |
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| fd_motor | `bool` | | | |
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| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) |
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| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures |
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| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.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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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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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 motor_stop_mask # Bitmaks of motors stopped by failure injection
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```
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:::
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