# Input flags for the failsafe state machine set by the arming & health checks. # # Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost) # The flag comments are used as label for the failsafe state machine simulation uint64 timestamp # time since system start (microseconds) # Per-mode requirements uint32 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_mission uint32 mode_req_offboard_signal uint32 mode_req_home_position uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded uint32 mode_req_prevent_arming # if set, cannot arm while in this mode uint32 mode_req_manual_control uint32 mode_req_other # other requirements, not covered above (for external modes) # Mode requirements bool angular_velocity_invalid # Angular velocity invalid bool attitude_invalid # Attitude invalid bool local_altitude_invalid # Local altitude invalid bool local_position_invalid # Local position estimate invalid bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) bool local_velocity_invalid # Local velocity estimate invalid bool global_position_invalid # Global position estimate invalid bool auto_mission_missing # No mission available bool offboard_control_signal_lost # Offboard signal lost bool home_position_invalid # No home position available # Control links bool manual_control_signal_lost # Manual control (RC) signal lost bool gcs_connection_lost # GCS connection lost # Battery uint8 battery_warning # Battery warning level bool battery_low_remaining_time # Low battery based on remaining flight time bool battery_unhealthy # Battery unhealthy # Other bool primary_geofence_breached # Primary Geofence breached bool mission_failure # Mission failure bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute) bool wind_limit_exceeded # Wind limit exceeded bool flight_time_limit_exceeded # Maximum flight time exceeded bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid # Failure detector bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) bool fd_esc_arming_failure # ESC failed to arm bool fd_imbalanced_prop # Imbalanced propeller detected bool fd_motor_failure # Motor failure