Determining cause of failsafe

Nick_Anthony · October 10, 2016, 12:36am

I’m trying to solve a few issues that I’ve been having with my pixracer and in order to do so I need to determine the cause of failsafe. I have a plot showing the status of the controller

How can I know what the numerical values of navstate and mainstate correspond to?

I also have the .mavlink file from QGC. is there I way I can extract the failsafe cause from this?

Just in case here are the two log files. https://drive.google.com/drive/folders/0B2mys0x5fHHtaUlaVkppam0tOWc?usp=sharing
In this flight the the drone flew around fine for a few seconds in stabilized mode before declaring “Failsafe” and zooming up to get stuck in the limb of a tree.

Mark_Whitehorn · October 10, 2016, 4:40pm

github.com

PX4/Firmware/blob/master/msg/vehicle_status.msg

# If you change the order, add or remove arming_state_t states make sure to update the arrays
# in state_machine_helper.cpp as well.
uint64 timestamp				# time since system start (microseconds)

uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_STANDBY_ERROR = 3
uint8 ARMING_STATE_REBOOT = 4
uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6

# FailureDetector status
uint8 FAILURE_NONE = 0
uint8 FAILURE_ROLL = 1 	# (1 << 0)
uint8 FAILURE_PITCH = 2	# (1 << 1)
uint8 FAILURE_ALT = 4 	# (1 << 2)

# HIL
uint8 HIL_STATE_OFF = 0

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Nick_Anthony · October 11, 2016, 12:24am

Thanks. That’s exactly what I was looking for. For completeness sake, the declarations for MainState are here: https://github.com/PX4/Firmware/blob/4453e4201b7a245cff52beeb38a293161aea4c48/msg/commander_state.msg

Nick_Anthony · October 11, 2016, 12:49am

So, I can see that failsafe was briefly true and that as a result NAV_STATE went to 6 (RC recover mode). Is there any way from the logs that I can get more information about what caused failsafe to enable?

Mark_Whitehorn · October 12, 2016, 4:43pm

I think you’ll have to look at the commander source code to do that.