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PX4-Autopilot/docs/en/msg_docs/FailureInjection.md
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---
pageClass: is-wide-page
---
# FailureInjection (UORB message)
Failure injection configuration.
Currently active failure-injection configuration, published by the failure
injection manager (the sole subscriber to vehicle_command INJECT_FAILURE).
Republished only when the configuration changes, so command spam on
vehicle_command cannot propagate to the consumers applying the failures.
**TOPICS:** failure_injection
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | ----------- | ------------ | ----------------------------- | ---------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_count"></a>count | `uint8` | | | number of valid entries in the arrays below |
| <a id="fld_unit"></a>unit | `uint8[4]` | | [FAILURE_UNIT](#FAILURE_UNIT) | Affected component per entry |
| <a id="fld_instance_mask"></a>instance_mask | `uint16[4]` | | | Bit i targets instance (i+1); 0xFFFF = all instances |
| <a id="fld_failure_type"></a>failure_type | `uint8[4]` | | [FAILURE_TYPE](#FAILURE_TYPE) | failure mode per entry |
## Enums
### FAILURE_UNIT {#FAILURE_UNIT}
Used in field(s): [unit](#fld_unit)
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#FAILURE_UNIT_SENSOR_GYRO"></a> FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 |
| <a id="#FAILURE_UNIT_SENSOR_ACCEL"></a> FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 |
| <a id="#FAILURE_UNIT_SENSOR_MAG"></a> FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 |
| <a id="#FAILURE_UNIT_SENSOR_BARO"></a> FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 |
| <a id="#FAILURE_UNIT_SENSOR_GPS"></a> FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 |
| <a id="#FAILURE_UNIT_SENSOR_OPTICAL_FLOW"></a> FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 |
| <a id="#FAILURE_UNIT_SENSOR_VIO"></a> FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 |
| <a id="#FAILURE_UNIT_SENSOR_DISTANCE_SENSOR"></a> FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 |
| <a id="#FAILURE_UNIT_SENSOR_AIRSPEED"></a> FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 |
| <a id="#FAILURE_UNIT_SYSTEM_BATTERY"></a> FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 |
| <a id="#FAILURE_UNIT_SYSTEM_MOTOR"></a> FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 |
| <a id="#FAILURE_UNIT_SYSTEM_SERVO"></a> FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 |
| <a id="#FAILURE_UNIT_SYSTEM_AVOIDANCE"></a> FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 |
| <a id="#FAILURE_UNIT_SYSTEM_RC_SIGNAL"></a> FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 |
| <a id="#FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL"></a> FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 |
| <a id="#FAILURE_UNIT_SYSTEM_ESC"></a> FAILURE_UNIT_SYSTEM_ESC | `uint8` | 106 |
### FAILURE_TYPE {#FAILURE_TYPE}
Used in field(s): [failure_type](#fld_failure_type)
| Name | Type | Value | Description |
| ----------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#FAILURE_TYPE_OK"></a> FAILURE_TYPE_OK | `uint8` | 0 |
| <a id="#FAILURE_TYPE_OFF"></a> FAILURE_TYPE_OFF | `uint8` | 1 |
| <a id="#FAILURE_TYPE_STUCK"></a> FAILURE_TYPE_STUCK | `uint8` | 2 |
| <a id="#FAILURE_TYPE_GARBAGE"></a> FAILURE_TYPE_GARBAGE | `uint8` | 3 |
| <a id="#FAILURE_TYPE_WRONG"></a> FAILURE_TYPE_WRONG | `uint8` | 4 |
| <a id="#FAILURE_TYPE_SLOW"></a> FAILURE_TYPE_SLOW | `uint8` | 5 |
| <a id="#FAILURE_TYPE_DELAYED"></a> FAILURE_TYPE_DELAYED | `uint8` | 6 |
| <a id="#FAILURE_TYPE_INTERMITTENT"></a> FAILURE_TYPE_INTERMITTENT | `uint8` | 7 |
## Constants
| Name | Type | Value | Description |
| --------------------------------------- | ------- | ----- | --------------------------------------- |
| <a id="#MAX_FAILURES"></a> MAX_FAILURES | `uint8` | 4 | maximum number of simultaneous failures |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureInjection.msg)
::: details Click here to see original file
```c
#Failure injection configuration.
#
# Currently active failure-injection configuration, published by the failure
# injection manager (the sole subscriber to vehicle_command INJECT_FAILURE).
# Republished only when the configuration changes, so command spam on
# vehicle_command cannot propagate to the consumers applying the failures.
uint64 timestamp # [us] Time since system start
uint8 MAX_FAILURES = 4 # maximum number of simultaneous failures
uint8 count # number of valid entries in the arrays below
uint8[4] unit # [@enum FAILURE_UNIT] Affected component per entry
# Failure unit (affected component). Mirrors MAVLink FAILURE_UNIT and the
# FAILURE_UNIT_* values in vehicle_command.
uint8 FAILURE_UNIT_SENSOR_GYRO = 0
uint8 FAILURE_UNIT_SENSOR_ACCEL = 1
uint8 FAILURE_UNIT_SENSOR_MAG = 2
uint8 FAILURE_UNIT_SENSOR_BARO = 3
uint8 FAILURE_UNIT_SENSOR_GPS = 4
uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5
uint8 FAILURE_UNIT_SENSOR_VIO = 6
uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7
uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8
uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100
uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101
uint8 FAILURE_UNIT_SYSTEM_SERVO = 102
uint8 FAILURE_UNIT_SYSTEM_AVOIDANCE = 103
uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
uint8 FAILURE_UNIT_SYSTEM_ESC = 106
uint16[4] instance_mask # Bit i targets instance (i+1); 0xFFFF = all instances
uint8[4] failure_type # [@enum FAILURE_TYPE] failure mode per entry
# Failure mode.
# Mirrors MAVLink FAILURE_TYPE and the FAILURE_TYPE_* values in vehicle_command.
uint8 FAILURE_TYPE_OK = 0
uint8 FAILURE_TYPE_OFF = 1
uint8 FAILURE_TYPE_STUCK = 2
uint8 FAILURE_TYPE_GARBAGE = 3
uint8 FAILURE_TYPE_WRONG = 4
uint8 FAILURE_TYPE_SLOW = 5
uint8 FAILURE_TYPE_DELAYED = 6
uint8 FAILURE_TYPE_INTERMITTENT = 7
```
:::
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