2022-09-05 02:56:39 -03:00
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# Input flags for the failsafe state machine set by the arming & health checks.
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2022-06-01 09:56:26 -03:00
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#
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2022-04-26 06:07:02 -03:00
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# Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
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# The flag comments are used as label for the failsafe state machine simulation
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2017-01-27 14:00:39 -04:00
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2018-08-07 10:42:32 -03:00
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uint64 timestamp # time since system start (microseconds)
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2018-08-06 21:30:05 -03:00
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2022-06-01 09:56:26 -03:00
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# Per-mode requirements
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uint32 mode_req_angular_velocity
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uint32 mode_req_attitude
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2022-09-05 02:56:39 -03:00
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uint32 mode_req_local_alt
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2022-06-01 09:56:26 -03:00
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uint32 mode_req_local_position
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uint32 mode_req_local_position_relaxed
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2022-06-01 09:56:26 -03:00
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uint32 mode_req_global_position
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uint32 mode_req_mission
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uint32 mode_req_offboard_signal
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uint32 mode_req_home_position
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2022-12-08 09:15:18 -04:00
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uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
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2022-06-01 09:56:26 -03:00
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uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
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2022-11-30 11:17:32 -04:00
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uint32 mode_req_manual_control
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2022-06-01 09:56:26 -03:00
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uint32 mode_req_other # other requirements, not covered above (for external modes)
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2022-09-05 02:56:39 -03:00
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# Mode requirements
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bool angular_velocity_invalid # Angular velocity invalid
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bool attitude_invalid # Attitude invalid
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bool local_altitude_invalid # Local altitude invalid
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bool local_position_invalid # Local position estimate invalid
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bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
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bool local_velocity_invalid # Local velocity estimate invalid
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bool global_position_invalid # Global position estimate invalid
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bool auto_mission_missing # No mission available
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bool offboard_control_signal_lost # Offboard signal lost
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bool home_position_invalid # No home position available
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# Control links
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2022-09-19 08:43:38 -03:00
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bool manual_control_signal_lost # Manual control (RC) signal lost
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bool gcs_connection_lost # GCS connection lost
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2022-09-05 02:56:39 -03:00
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# Battery
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uint8 battery_warning # Battery warning level
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bool battery_low_remaining_time # Low battery based on remaining flight time
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bool battery_unhealthy # Battery unhealthy
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2022-10-06 08:53:31 -03:00
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# Other
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2023-11-16 09:33:44 -04:00
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bool geofence_breached # Geofence breached (one or multiple)
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2022-09-05 02:56:39 -03:00
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bool mission_failure # Mission failure
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2023-01-12 04:56:58 -04:00
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bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
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2022-09-05 02:56:39 -03:00
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bool wind_limit_exceeded # Wind limit exceeded
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bool flight_time_limit_exceeded # Maximum flight time exceeded
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2023-01-27 11:04:55 -04:00
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bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
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2022-09-05 02:56:39 -03:00
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# Failure detector
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bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
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bool fd_esc_arming_failure # ESC failed to arm
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bool fd_imbalanced_prop # Imbalanced propeller detected
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bool fd_motor_failure # Motor failure
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2022-08-09 10:08:17 -03:00
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