--- pageClass: is-wide-page --- # FailsafeFlags (UORB message) 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 **TOPICS:** failsafe_flags ## Fields | Name | Type | Unit [Frame] | Range/Enum | Description | | ---------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | | 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_global_position_relaxed | `uint32` | | | | mode_req_mission | `uint32` | | | | mode_req_offboard_signal | `uint32` | | | | mode_req_home_position | `uint32` | | | | mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded | | mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode | | mode_req_manual_control | `uint32` | | | | mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) | | angular_velocity_invalid | `bool` | | | Angular velocity invalid | | attitude_invalid | `bool` | | | Attitude invalid | | local_altitude_invalid | `bool` | | | Local altitude invalid | | local_position_invalid | `bool` | | | Local position estimate invalid | | local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | | local_velocity_invalid | `bool` | | | Local velocity estimate invalid | | global_position_invalid | `bool` | | | Global position estimate invalid | | global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements | | auto_mission_missing | `bool` | | | No mission available | | offboard_control_signal_lost | `bool` | | | Offboard signal lost | | home_position_invalid | `bool` | | | No home position available | | manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost | | gcs_connection_lost | `bool` | | | GCS connection lost | | battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | | battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | | battery_unhealthy | `bool` | | | Battery unhealthy | | fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | | fd_esc_arming_failure | `bool` | | | ESC failed to arm | | fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | | fd_motor_failure | `bool` | | | Motor failure | | geofence_breached | `bool` | | | Geofence breached (one or multiple) | | mission_failure | `bool` | | | Mission failure | | vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | | wind_limit_exceeded | `bool` | | | Wind limit exceeded | | flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | | position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | | navigator_failure | `bool` | | | Navigator failed to execute a mode | | parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy | ## Source Message [Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg) ::: details Click here to see original file ```c # 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_global_position_relaxed 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 global_position_invalid_relaxed # Global position estimate invalid with relaxed accuracy requirements 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 (see BatteryStatus.msg) bool battery_low_remaining_time # Low battery based on remaining flight time bool battery_unhealthy # Battery unhealthy # 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 # Other bool geofence_breached # Geofence breached (one or multiple) 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 position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid bool navigator_failure # Navigator failed to execute a mode bool parachute_unhealthy # Parachute system missing or unhealthy ``` :::