Detecting HW issues at the GCS

ArduCopter Copter 4.0
1

How do I detect various hardware failing in my custom GCS? I need to detect failures of compass, IMU, GPS, motors. What messages should I listen to?

2

I think the SYS_STATUS message is the best place to start.

-Randy

3

Is there a way to simulate HW failures (other than GPS, which I understand can be done with SIM_GPS_DISABLE)?

4

@msasha,

As far as I know there are some specific SIM_ parameters for failing various subsystems but it may not be complete. From a quick review of the SIM_ parameters I see:

  • SIM_ACC_FAIL_MSK and SIM_ACC_FAIL
  • SIM_ARSPD_FAIL
  • SIM_BARO_DISABLE
  • SIM_ENGINE_FAIL
  • SIM_FLOW_ENABLE
  • SIM_GYR_FAIL_MSK
  • SIM_RC_FAIL

So perhaps this is a start…

5

I wasn’t able to get much from SYS_STATUS.

  • It has only one GPS flag, even though there could be several GPS units.
  • It has MAG and MAG2 flags, but all the MAG2 flags (present/enabled/health) are always 0, even when we have two compasses.