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Co-Authored-By: PX4 BuildBot <bot@px4.io>
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2026-05-11 16:10:20 +00:00
parent 48ea8ee939
commit 23262bff1d
7 changed files with 278 additions and 240 deletions
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docs/en/msg_docs/FailsafeFlags.md
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@@ -13,9 +13,9 @@ The flag comments are used as label for the failsafe state machine simulation
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| mode_req_angular_velocity | `uint32` | | |
| mode_req_attitude | `uint32` | | |
| mode_req_local_alt | `uint32` | | |
@@ -26,40 +26,41 @@ The flag comments are used as label for the failsafe state machine simulation
| 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_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 |
| fd_critical_failure | `bool` | | | Critical failure (attitude 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 |
| fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| 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 |
| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| 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 |
| fd_critical_failure | `bool` | | | Critical failure (attitude 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 |
| fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| 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 |
| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions |
## Source Message
@@ -131,6 +132,7 @@ bool position_accuracy_low # Position estimate has dropped below thre
bool navigator_failure # Navigator failed to execute a mode
bool parachute_unhealthy # Parachute system missing or unhealthy
bool remote_id_unhealthy # Remote ID (Open Drone ID) system missing or unhealthy
bool gnss_lost # Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions
```
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