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2026-05-27 02:57:43 +00:00
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docs/en/msg_docs/FailsafeFlags.md
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@@ -13,54 +13,54 @@ 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) |
| 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 |
| 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 |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `uint32` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `uint32` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `uint32` | | |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `uint32` | | |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `uint32` | | |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `uint32` | | |
| <a id="fld_mode_req_global_position_relaxed"></a>mode_req_global_position_relaxed | `uint32` | | |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `uint32` | | |
| <a id="fld_mode_req_offboard_signal"></a>mode_req_offboard_signal | `uint32` | | |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `uint32` | | |
| <a id="fld_mode_req_wind_and_flight_time_compliance"></a>mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `uint32` | | |
| <a id="fld_mode_req_other"></a>mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
| <a id="fld_angular_velocity_invalid"></a>angular_velocity_invalid | `bool` | | | Angular velocity invalid |
| <a id="fld_attitude_invalid"></a>attitude_invalid | `bool` | | | Attitude invalid |
| <a id="fld_local_altitude_invalid"></a>local_altitude_invalid | `bool` | | | Local altitude invalid |
| <a id="fld_local_position_invalid"></a>local_position_invalid | `bool` | | | Local position estimate invalid |
| <a id="fld_local_position_invalid_relaxed"></a>local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
| <a id="fld_local_velocity_invalid"></a>local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
| <a id="fld_global_position_invalid"></a>global_position_invalid | `bool` | | | Global position estimate invalid |
| <a id="fld_global_position_invalid_relaxed"></a>global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
| <a id="fld_auto_mission_missing"></a>auto_mission_missing | `bool` | | | No mission available |
| <a id="fld_offboard_control_signal_lost"></a>offboard_control_signal_lost | `bool` | | | Offboard signal lost |
| <a id="fld_home_position_invalid"></a>home_position_invalid | `bool` | | | No home position available |
| <a id="fld_manual_control_signal_lost"></a>manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
| <a id="fld_gcs_connection_lost"></a>gcs_connection_lost | `bool` | | | GCS connection lost |
| <a id="fld_battery_warning"></a>battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| <a id="fld_battery_low_remaining_time"></a>battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| <a id="fld_battery_unhealthy"></a>battery_unhealthy | `bool` | | | Battery unhealthy |
| <a id="fld_fd_critical_failure"></a>fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) |
| <a id="fld_fd_esc_arming_failure"></a>fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| <a id="fld_fd_motor_failure"></a>fd_motor_failure | `bool` | | | Motor failure |
| <a id="fld_fd_alt_loss"></a>fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| <a id="fld_geofence_breached"></a>geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| <a id="fld_mission_failure"></a>mission_failure | `bool` | | | Mission failure |
| <a id="fld_vtol_fixed_wing_system_failure"></a>vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
| <a id="fld_wind_limit_exceeded"></a>wind_limit_exceeded | `bool` | | | Wind limit exceeded |
| <a id="fld_flight_time_limit_exceeded"></a>flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| <a id="fld_position_accuracy_low"></a>position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| <a id="fld_navigator_failure"></a>navigator_failure | `bool` | | | Navigator failed to execute a mode |
| <a id="fld_parachute_unhealthy"></a>parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| <a id="fld_remote_id_unhealthy"></a>remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| <a id="fld_gnss_lost"></a>gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions |
## Source Message