FailureDetectorStatus (повідомлення UORB)

TOPICS: failure_detectorstatus

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
fd_roll	bool
fd_pitch	bool
fd_alt	bool
fd_ext	bool
fd_arm_escs	bool
fd_battery	bool
fd_imbalanced_prop	bool
fd_motor	bool
imbalanced_prop_metric	float32			Metric of the imbalanced propeller check (low-passed)
motor_failure_mask	uint16			Bit-mask with motor indices, indicating critical motor failures
motor_stop_mask	uint16			Bitmaks of motors stopped by failure injection

Source Message

Source file (GitHub)

Details

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uint64 timestamp                    # time since system start (microseconds)

# FailureDetector status
bool fd_roll
bool fd_pitch
bool fd_alt
bool fd_ext
bool fd_arm_escs
bool fd_battery
bool fd_imbalanced_prop
bool fd_motor

float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
uint16 motor_stop_mask              # Bitmaks of motors stopped by failure injection