mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
52 lines
4.2 KiB
Markdown
52 lines
4.2 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# FailureDetectorStatus (повідомлення UORB)
|
|
|
|
**TOPICS:** failure_detector_status
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_fd_roll"></a>fd_roll | `bool` | | | |
|
|
| <a id="fld_fd_pitch"></a>fd_pitch | `bool` | | | |
|
|
| <a id="fld_fd_alt"></a>fd_alt | `bool` | | | |
|
|
| <a id="fld_fd_ext"></a>fd_ext | `bool` | | | |
|
|
| <a id="fld_fd_arm_escs"></a>fd_arm_escs | `bool` | | | |
|
|
| <a id="fld_fd_battery"></a>fd_battery | `bool` | | | |
|
|
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | | |
|
|
| <a id="fld_fd_motor"></a>fd_motor | `bool` | | | |
|
|
| <a id="fld_imbalanced_prop_metric"></a>imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) |
|
|
| <a id="fld_motor_failure_mask"></a>motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures |
|
|
| <a id="fld_motor_stop_mask"></a>motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
# FailureDetector status
|
|
bool fd_roll
|
|
bool fd_pitch
|
|
bool fd_alt
|
|
bool fd_ext
|
|
bool fd_arm_escs
|
|
bool fd_battery
|
|
bool fd_imbalanced_prop
|
|
bool fd_motor
|
|
|
|
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
|
|
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
|
|
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
|
|
```
|
|
|
|
:::
|