FailsafeFlags (повідомлення UORB)
Прапорці введення для безпечної станової машини встановлені під час озброєння та перевірок стану здоров'я.
Прапорці повинні мати назви такі, що false == відсутність відмови (наприклад, _invalid, _unhealthy, _lost) Коментарі до прапорців використовуються як мітка для симуляції аварійного стану машини
c
# Input flags for the failsafe state machine set by the arming & health checks.
#
# Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
# The flag comments are used as label for the failsafe state machine simulation
uint64 timestamp # time since system start (microseconds)
# Per-mode requirements
uint32 mode_req_angular_velocity
uint32 mode_req_attitude
uint32 mode_req_local_alt
uint32 mode_req_local_position
uint32 mode_req_local_position_relaxed
uint32 mode_req_global_position
uint32 mode_req_mission
uint32 mode_req_offboard_signal
uint32 mode_req_home_position
uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
uint32 mode_req_manual_control
uint32 mode_req_other # other requirements, not covered above (for external modes)
# Mode requirements
bool angular_velocity_invalid # Angular velocity invalid
bool attitude_invalid # Attitude invalid
bool local_altitude_invalid # Local altitude invalid
bool local_position_invalid # Local position estimate invalid
bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
bool local_velocity_invalid # Local velocity estimate invalid
bool global_position_invalid # Global position estimate invalid
bool auto_mission_missing # No mission available
bool offboard_control_signal_lost # Offboard signal lost
bool home_position_invalid # No home position available
# Control links
bool manual_control_signal_lost # Manual control (RC) signal lost
bool gcs_connection_lost # GCS connection lost
# Battery
uint8 battery_warning # Battery warning level
bool battery_low_remaining_time # Low battery based on remaining flight time
bool battery_unhealthy # Battery unhealthy
# Other
bool geofence_breached # Geofence breached (one or multiple)
bool mission_failure # Mission failure
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
# Failure detector
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
bool fd_esc_arming_failure # ESC failed to arm
bool fd_imbalanced_prop # Imbalanced propeller detected
bool fd_motor_failure # Motor failure