2 Commits

Author	SHA1	Message	Date
Claudio Chies	d63f30c612	feat(failure_injection): Enable failure-injection on hardware, and through RC-switch (#27832) ... * feat(failure_injection): integrate failure injection support across sensor drivers * feat(failure_injection): enhance failure injection with RC switch support and instance bitmasking feat(failure_injection): add disabled failure injection manager and system command support for v5x and v6x boards * feat(failure_injection): add battery failure injection Add a value-mutating apply-site for FAILURE_UNIT_SYSTEM_BATTERY. On an injected OFF the outgoing battery_status is reported as a depleted pack (zero remaining, emergency warning) so the low-battery failsafe triggers. The apply-site lives in the shared Battery library, covering the analog ADC, INA power monitors, ESC battery and SITL in one place, plus the UAVCAN battery driver which publishes battery_status directly. The previous SITL-only hack in BatterySimulator is removed in favour of this shared path so simulation and hardware behave identically. * fix(failure_injection): change parameter types from int32 to enum * refactor(failure_injection): disable failure injection manager and system commands across multiple boards * feat(failure_injection): enhance failure injection with timestamp handling and message-less support * refactor(failure_injection): simplify has_timestamp_sample implementation and remove unused includes * refactor(failure_injection):move conditional compilation into helper libary * refactor(failure_injection): update CMakeLists to include failure_injection dependency across multiple drivers --------- Co-authored-by: Claudio Chies <chiesc@chies.com>	2026-07-15 07:56:13 -07:00
Claudio Chies	f937bd5818	refactor(failure_injection): centralize MAV_CMD_INJECT_FAILURE behind a manager module (#27572) ... * feat(failure_injection): add failure_injection topic and helper library * feat(failure_injection): add failure injection manager module * refactor(commander): route motor failure injection through the manager * refactor(simulation): route sensor sim failure injection through the manager * refactor(simulation): route SimulatorMavlink failure injection through the manager * feat(failure_injection): start the manager in the SITL startup * docs(failure_injection): document per-simulator failure support * feat(failure_injection): enhance failure injection management and configuration * fix(rebase): baro failure injectionb * refactor(failure_injection): simplify FailureInjectionManager and FailureTable implementations * refactor(failure_injection): replace Subscriber with Config in various modules and add update method * update(uorb): FailureInjection.msg to docs standard * docs(docs): subedit * fix(failure_injection): correct comment formatting in FailureInjection.msg * feat(failure_injection): add failure injection manager support across multiple boards and modules * feat(mavlink): implement failure injection functionality --------- Co-authored-by: Claudio Chies <chiesc@chies.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-06-30 15:33:39 +02:00