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Failsafe State Machine Simulation
State
Vehicle Type:
Unknown/other
Multirotor
Fixed wing
Rover
Airship
?
For VTOLs the type switches between Multirotor and Fixed Wing
Armed:
VTOL in Transition Mode:
Mission Finished:
Intended Mode:
MANUAL
ACRO
STAB
ALTCTL
POSCTL
AUTO_MISSION
AUTO_LOITER
AUTO_RTL
AUTO_TAKEOFF
AUTO_LAND
AUTO_FOLLOW_TARGET
AUTO_PRECLAND
AUTO_VTOL_TAKEOFF
OFFBOARD
ORBIT
Move RC Sticks (user takeover request)
Defer Failsafes:
Parameters
Conditions
Mode requirements
Angular velocity invalid
Attitude invalid
Local altitude invalid
Local position estimate invalid
Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
Local velocity estimate invalid
Global position estimate invalid
No mission available
Offboard signal lost
No home position available
Control links
Manual control (RC) signal lost
GCS connection lost
Battery
Battery warning level (see BatteryStatus.msg):
None
Low
Critical
Emergency
Low battery based on remaining flight time
Battery unhealthy
Other
Geofence breached (one or multiple)
Mission failure
vehicle in fixed-wing system failure failsafe mode (after quad-chute)
Wind limit exceeded
Maximum flight time exceeded
Local position estimate has dropped below threshold, but is currently still declared valid
Navigator failed to execute a mode
Failure detector
Critical failure (attitude/altitude limit exceeded, or external ATS)
ESC failed to arm
Imbalanced propeller detected
Motor failure
Output
Failsafe action:
User takeover active:
Console output (debug):