FailsafeFlags (UORB message)
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
TOPICS: failsafe_flags
Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| 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_global_position_relaxed | uint32 | |||
| mode_req_mission | uint32 | |||
| mode_req_offboard_signal | uint32 | |||
| mode_req_home_position | uint32 | |||
| mode_req_wind_and_flight_time_compliance | uint32 | if set, mode cannot be entered if wind or flight time limit exceeded | ||
| mode_req_prevent_arming | uint32 | if set, cannot arm while in this mode | ||
| mode_req_manual_control | uint32 | |||
| mode_req_other | uint32 | other requirements, not covered above (for external modes) | ||
| angular_velocity_invalid | bool | Angular velocity invalid | ||
| attitude_invalid | bool | Attitude invalid | ||
| local_altitude_invalid | bool | Local altitude invalid | ||
| local_position_invalid | bool | Local position estimate invalid | ||
| local_position_invalid_relaxed | bool | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | ||
| local_velocity_invalid | bool | Local velocity estimate invalid | ||
| global_position_invalid | bool | Global position estimate invalid | ||
| global_position_invalid_relaxed | bool | Global position estimate invalid with relaxed accuracy requirements | ||
| auto_mission_missing | bool | No mission available | ||
| offboard_control_signal_lost | bool | Offboard signal lost | ||
| home_position_invalid | bool | No home position available | ||
| manual_control_signal_lost | bool | Manual control (RC) signal lost | ||
| gcs_connection_lost | bool | GCS connection lost | ||
| battery_warning | uint8 | Battery warning level (see BatteryStatus.msg) | ||
| battery_low_remaining_time | bool | Low battery based on remaining flight time | ||
| battery_unhealthy | bool | Battery unhealthy | ||
| geofence_breached | bool | Geofence breached (one or multiple) | ||
| mission_failure | bool | Mission failure | ||
| vtol_fixed_wing_system_failure | bool | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | ||
| wind_limit_exceeded | bool | Wind limit exceeded | ||
| flight_time_limit_exceeded | bool | Maximum flight time exceeded | ||
| position_accuracy_low | bool | Position estimate has dropped below threshold, but is currently still declared valid | ||
| navigator_failure | bool | Navigator failed to execute a mode | ||
| fd_critical_failure | bool | Critical failure (attitude/altitude limit exceeded, or external ATS) | ||
| fd_esc_arming_failure | bool | ESC failed to arm | ||
| fd_imbalanced_prop | bool | Imbalanced propeller detected | ||
| fd_motor_failure | bool | Motor failure |
Source Message
Details
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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_global_position_relaxed
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 global_position_invalid_relaxed # Global position estimate invalid with relaxed accuracy requirements
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 (see BatteryStatus.msg)
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 position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
# 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