Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-10 14:51:15 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

docs/failure_injection: motor off requires CA_FAILURE_MODE to be set
Build all targets / Scan for Board Targets (push) Has been cancelled
Details
Build all targets / Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}] (push) Has been cancelled
Details
Build all targets / Upload Artifacts to S3 (push) Has been cancelled
Details
Build all targets / Create Release and Upload Artifacts (push) Has been cancelled
Details
Checks / build (NO_NINJA_BUILD=1 px4_fmu-v5_default) (push) Has been cancelled
Details
Checks / build (NO_NINJA_BUILD=1 px4_sitl_default) (push) Has been cancelled
Details
Checks / build (check_format) (push) Has been cancelled
Details
Checks / build (check_newlines) (push) Has been cancelled
Details
Checks / build (module_documentation) (push) Has been cancelled
Details
Checks / build (px4_fmu-v2_default stack_check) (push) Has been cancelled
Details
Checks / build (px4_sitl_allyes) (push) Has been cancelled
Details
Checks / build (shellcheck_all) (push) Has been cancelled
Details
Checks / build (tests) (push) Has been cancelled
Details
Checks / build (tests_coverage) (push) Has been cancelled
Details
Checks / build (validate_module_configs) (push) Has been cancelled
Details
Clang Tidy / build (push) Has been cancelled
Details
MacOS build / build (px4_fmu-v5_default) (push) Has been cancelled
Details
MacOS build / build (px4_sitl) (push) Has been cancelled
Details
Ubuntu environment build / Build and Test (ubuntu:22.04) (push) Has been cancelled
Details
Ubuntu environment build / Build and Test (ubuntu:24.04) (push) Has been cancelled
Details
Container build / Set Tags and Variables (push) Has been cancelled
Details
Container build / Build Container (amd64) (push) Has been cancelled
Details
Container build / Build Container (arm64) (push) Has been cancelled
Details
Container build / Deploy To Registry (push) Has been cancelled
Details
EKF Update Change Indicator / unit_tests (push) Has been cancelled
Details
Failsafe Simulator Build / build (failsafe_web) (push) Has been cancelled
Details
FLASH usage analysis / Analyzing px4_fmu-v5x (push) Has been cancelled
Details
FLASH usage analysis / Analyzing px4_fmu-v6x (push) Has been cancelled
Details
FLASH usage analysis / Publish Results (push) Has been cancelled
Details
ITCM check / Checking nxp_tropic-community (push) Has been cancelled
Details
ITCM check / Checking px4_fmu-v5x (push) Has been cancelled
Details
ITCM check / Checking px4_fmu-v6xrt (push) Has been cancelled
Details
MAVROS Mission Tests / build (map[mission:MC_mission_box vehicle:iris]) (push) Has been cancelled
Details
MAVROS Offboard Tests / build (map[test_file:mavros_posix_tests_offboard_posctl.test vehicle:iris]) (push) Has been cancelled
Details
Nuttx Target with extra env config / build (px4_fmu-v5_default) (push) Has been cancelled
Details
Python CI Checks / build (push) Has been cancelled
Details
ROS Integration Tests / build (push) Has been cancelled
Details
ROS Translation Node Tests / Build and test (map[ros_version:humble ubuntu:jammy]) (push) Has been cancelled
Details
ROS Translation Node Tests / Build and test (map[ros_version:jazzy ubuntu:noble]) (push) Has been cancelled
Details
SITL Tests / Testing PX4 tailsitter (push) Has been cancelled
Details
SITL Tests / Testing PX4 iris (push) Has been cancelled
Details
SITL Tests / Testing PX4 standard_vtol (push) Has been cancelled
Details
Docs - Crowdin - Upload Guide sources (en) / upload-to-crowdin (push) Has been cancelled
Details
Docs - Deploy PX4 User Guide / build (push) Has been cancelled
Details
Docs - Deploy PX4 User Guide / deploy (push) Has been cancelled
Details
Docs - Deploy PX4 User Guide to AWS / build (push) Has been cancelled
Details
Docs - Deploy PX4 User Guide to AWS / deploy (push) Has been cancelled
Details

Browse Source
This commit is contained in:
Matthias Grob
2025-09-26 11:02:40 +02:00
parent e59afce5db
commit 4d2170c13e
1 changed files with 21 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/debug/failure_injection.md
+21 -21
View File
@@ -9,7 +9,7 @@ Failure injection is disabled by default, and can be enabled using the [SYS_FAIL
Failure injection still in development.
At time of writing (PX4 v1.14):
- It can only be used in simulation (support for both failure injection in real flight is planned).
- Support may vary by failure type and between simulatiors and real vehicle.
- It requires support in the simulator.
It is supported in Gazebo Classic
- Many failure types are not broadly implemented.
@@ -33,31 +33,31 @@ where:
- _component_:
- Sensors:
- `gyro`: Gyro.
- `accel`: Accelerometer.
- `gyro`: Gyroscope
- `accel`: Accelerometer
- `mag`: Magnetometer
- `baro`: Barometer
- `gps`: GPS
- `gps`: Global navigation satellite system
- `optical_flow`: Optical flow.
- `vio`: Visual inertial odometry.
- `vio`: Visual inertial odometry
- `distance_sensor`: Distance sensor (rangefinder).
- `airspeed`: Airspeed sensor.
- `airspeed`: Airspeed sensor
- Systems:
- `battery`: Battery.
- `motor`: Motor.
- `servo`: Servo.
- `avoidance`: Avoidance.
- `rc_signal`: RC Signal.
- `mavlink_signal`: MAVLink signal (data telemetry).
- `battery`: Battery
- `motor`: Motor
- `servo`: Servo
- `avoidance`: Avoidance
- `rc_signal`: RC Signal
- `mavlink_signal`: MAVLink data telemetry connection
- _failure_type_:
- `ok`: Publish as normal (Disable failure injection).
- `off`: Stop publishing.
- `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
- `garbage`: Publish random noise. This looks like reading uninitialized memory.
- `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
- `slow`: Publish at a reduced rate.
- `delayed`: Publish valid data with a significant delay.
- `intermittent`: Publish intermittently.
- `ok`: Publish as normal (Disable failure injection)
- `off`: Stop publishing
- `stuck`: Constantly report the same value which _can_ happen on a malfunctioning sensor
- `garbage`: Publish random noise. This looks like reading uninitialized memory
- `wrong`: Publish invalid values that still look reasonable/aren't "garbage"
- `slow`: Publish at a reduced rate
- `delayed`: Publish valid data with a significant delay
- `intermittent`: Publish intermittently
- _instance number_ (optional): Instance number of affected sensor.
0 (default) indicates all sensors of specified type.
@@ -65,7 +65,7 @@ where:
To simulate losing RC signal without having to turn off your RC controller:
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
1. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh