mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
85 lines
3.6 KiB
Markdown
85 lines
3.6 KiB
Markdown
# 시스템 장애 주입
|
|
|
|
System failure injection allows you to induce different types of sensor and system failures, either programmatically using the [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html), or "manually" via a PX4 console like the [MAVLink shell](../debug/mavlink_shell.md#mavlink-shell).
|
|
This enables easier testing of [safety failsafe](../config/safety.md) behaviour, and more generally, of how PX4 behaves when systems and sensors stop working correctly.
|
|
|
|
Failure injection is disabled by default, and can be enabled using the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
|
|
|
|
:::warning
|
|
Failure injection still in development.
|
|
At time of writing (PX4 v1.14):
|
|
|
|
- 시뮬레이션에서만 사용할 수 있습니다(실제 비행에서 실패 주입 모두 지원 예정).
|
|
- It requires support in the simulator.
|
|
It is supported in Gazebo Classic
|
|
- 많은 실패 유형이 광범위하게 구현되지 않았습니다.
|
|
이러한 경우 명령은 "지원되지 않는" 메시지와 함께 반환됩니다.
|
|
|
|
:::
|
|
|
|
## 장애 시스템 명령
|
|
|
|
Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 console/shell, specifying both the target and type of the failure.
|
|
|
|
### 구문
|
|
|
|
The full syntax of the [failure](../modules/modules_command.md#failure) command is:
|
|
|
|
```sh
|
|
failure <component> <failure_type> [-i <instance_number>]
|
|
```
|
|
|
|
여기서:
|
|
|
|
- _component_:
|
|
- 센서:
|
|
- `gyro`: Gyro.
|
|
- `accel`: Accelerometer.
|
|
- `mag`: Magnetometer
|
|
- `baro`: Barometer
|
|
- `gps`: GPS
|
|
- `optical_flow`: Optical flow.
|
|
- `vio`: Visual inertial odometry.
|
|
- `distance_sensor`: Distance sensor (rangefinder).
|
|
- `airspeed`: Airspeed sensor.
|
|
- 시스템:
|
|
- `battery`: Battery.
|
|
- `motor`: Motor.
|
|
- `servo`: Servo.
|
|
- `avoidance`: Avoidance.
|
|
- `rc_signal`: RC Signal.
|
|
- `mavlink_signal`: MAVLink signal (data telemetry).
|
|
- _failure_type_:
|
|
- `ok`: Publish as normal (Disable failure injection).
|
|
- `off`: Stop publishing.
|
|
- `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
|
|
- `garbage`: Publish random noise. 초기화되지 않은 메모리를 읽는 것처럼 보입니다.
|
|
- `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
|
|
- `slow`: Publish at a reduced rate.
|
|
- `delayed`: Publish valid data with a significant delay.
|
|
- `intermittent`: Publish intermittently.
|
|
- _instance number_ (optional): Instance number of affected sensor.
|
|
0 (기본값) 지정된 유형의 모든 센서를 나타냅니다.
|
|
|
|
### Example
|
|
|
|
To simulate losing RC signal without having to turn off your RC controller:
|
|
|
|
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
|
|
2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
|
|
|
|
```sh
|
|
# Fail RC (turn publishing off)
|
|
failure rc_signal off
|
|
|
|
# Restart RC publishing
|
|
failure rc_signal ok
|
|
```
|
|
|
|
## MAVSDK 실패 플러그인
|
|
|
|
The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
|
|
It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
|
|
|
|
The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
|