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mavsdk::Failure Class Reference ​

#include: failure.h

Inject failures into system to test failsafes.

Public Types ​

TypeDescription
enum FailureUnitA failure unit.
enum FailureTypeA failure type.
enum ResultPossible results returned for failure requests.
std::function< void(Result)> ResultCallbackCallback type for asynchronous Failure calls.

Public Member Functions ​

TypeNameDescription
 Failure (System & system)Constructor. Creates the plugin for a specific System.
 Failure (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
 ~Failure () overrideDestructor (internal use only).
 Failure (const Failure & other)Copy constructor.
Resultinject (FailureUnit failure_unit, FailureType failure_type, int32_t instance)constInjects a failure.
const Failure &operator= (const Failure &)=deleteEquality operator (object is not copyable).

Constructor & Destructor Documentation ​

Failure() ​

cpp
mavsdk::Failure::Failure(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp
auto failure = Failure(system);

Parameters

  • System& system - The specific system associated with this plugin.

Failure() ​

cpp
mavsdk::Failure::Failure(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp
auto failure = Failure(system);

Parameters

  • std::shared_ptr< System > system - The specific system associated with this plugin.

~Failure() ​

cpp
mavsdk::Failure::~Failure() override

Destructor (internal use only).

Failure() ​

cpp
mavsdk::Failure::Failure(const Failure &other)

Copy constructor.

Parameters

Member Typdef Documentation ​

typedef ResultCallback ​

cpp
using mavsdk::Failure::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous Failure calls.

Member Enumeration Documentation ​

enum FailureUnit ​

A failure unit.

ValueDescription
SensorGyroGyro.
SensorAccelAccelerometer.
SensorMagMagnetometer.
SensorBaroBarometer.
SensorGpsGPS.
SensorOpticalFlowOptical flow.
SensorVioVisual inertial odometry.
SensorDistanceSensorDistance sensor.
SensorAirspeedAirspeed.
SystemBatteryBattery.
SystemMotorMotor.
SystemServoServo.
SystemAvoidanceAvoidance.
SystemRcSignalRC signal.
SystemMavlinkSignalMAVLink signal.

enum FailureType ​

A failure type.

ValueDescription
OkNo failure injected, used to reset a previous failure.
OffSets unit off, so completely non-responsive.
StuckUnit is stuck e.g. keeps reporting the same value.
GarbageUnit is reporting complete garbage.
WrongUnit is consistently wrong.
SlowUnit is slow, so e.g. reporting at slower than expected rate.
DelayedData of unit is delayed in time.
IntermittentUnit is sometimes working, sometimes not.

enum Result ​

Possible results returned for failure requests.

ValueDescription
UnknownUnknown result.
SuccessRequest succeeded.
NoSystemNo system is connected.
ConnectionErrorConnection error.
UnsupportedFailure not supported.
DeniedFailure injection denied.
DisabledFailure injection is disabled.
TimeoutRequest timed out.

Member Function Documentation ​

inject() ​

cpp
Result mavsdk::Failure::inject(FailureUnit failure_unit, FailureType failure_type, int32_t instance) const

Injects a failure.

This function is blocking.

Parameters

Returns

 Result - Result of request.

operator=() ​

cpp
const Failure& mavsdk::Failure::operator=(const Failure &)=delete

Equality operator (object is not copyable).

Parameters

Returns

 const Failure & -