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https://github.com/PX4/PX4-Autopilot.git
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f937bd5818
* feat(failure_injection): add failure_injection topic and helper library * feat(failure_injection): add failure injection manager module * refactor(commander): route motor failure injection through the manager * refactor(simulation): route sensor sim failure injection through the manager * refactor(simulation): route SimulatorMavlink failure injection through the manager * feat(failure_injection): start the manager in the SITL startup * docs(failure_injection): document per-simulator failure support * feat(failure_injection): enhance failure injection management and configuration * fix(rebase): baro failure injectionb * refactor(failure_injection): simplify FailureInjectionManager and FailureTable implementations * refactor(failure_injection): replace Subscriber with Config in various modules and add update method * update(uorb): FailureInjection.msg to docs standard * docs(docs): subedit * fix(failure_injection): correct comment formatting in FailureInjection.msg * feat(failure_injection): add failure injection manager support across multiple boards and modules * feat(mavlink): implement failure injection functionality --------- Co-authored-by: Claudio Chies <chiesc@chies.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
46 lines
1.7 KiB
Plaintext
46 lines
1.7 KiB
Plaintext
#Failure injection configuration.
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#
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# Currently active failure-injection configuration, published by the failure
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# injection manager (the sole subscriber to vehicle_command INJECT_FAILURE).
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# Republished only when the configuration changes, so command spam on
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# vehicle_command cannot propagate to the consumers applying the failures.
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uint64 timestamp # [us] Time since system start
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uint8 MAX_FAILURES = 4 # maximum number of simultaneous failures
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uint8 count # number of valid entries in the arrays below
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uint8[4] unit # [@enum FAILURE_UNIT] Affected component per entry
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# Failure unit (affected component). Mirrors MAVLink FAILURE_UNIT and the
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# FAILURE_UNIT_* values in vehicle_command.
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uint8 FAILURE_UNIT_SENSOR_GYRO = 0
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uint8 FAILURE_UNIT_SENSOR_ACCEL = 1
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uint8 FAILURE_UNIT_SENSOR_MAG = 2
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uint8 FAILURE_UNIT_SENSOR_BARO = 3
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uint8 FAILURE_UNIT_SENSOR_GPS = 4
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uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5
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uint8 FAILURE_UNIT_SENSOR_VIO = 6
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uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7
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uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8
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uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100
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uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101
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uint8 FAILURE_UNIT_SYSTEM_SERVO = 102
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uint8 FAILURE_UNIT_SYSTEM_AVOIDANCE = 103
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uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
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uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
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uint16[4] instance_mask # Bit i targets instance (i+1); 0xFFFF = all instances
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uint8[4] failure_type # [@enum FAILURE_TYPE] failure mode per entry
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# Failure mode.
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# Mirrors MAVLink FAILURE_TYPE and the FAILURE_TYPE_* values in vehicle_command.
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uint8 FAILURE_TYPE_OK = 0
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uint8 FAILURE_TYPE_OFF = 1
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uint8 FAILURE_TYPE_STUCK = 2
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uint8 FAILURE_TYPE_GARBAGE = 3
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uint8 FAILURE_TYPE_WRONG = 4
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uint8 FAILURE_TYPE_SLOW = 5
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uint8 FAILURE_TYPE_DELAYED = 6
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uint8 FAILURE_TYPE_INTERMITTENT = 7
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