feat(failure_injection): Enable failure-injection on hardware, and through RC-switch

[Claudio-Chies]

Summary

Extends failure injection beyond the SITL simulators so failures can be injected on real hardware, triggered from an RC switch, and applied to multiple instances at once. All new apply-sites compile in only with the failure_injection_manager module and stay gated at runtime by SYS_FAILURE_EN.

Problem

Failure injection only worked through the SITL sensor/actuator sims. On real hardware failure <sensor> did nothing; failures could only be commanded over MAVLink/console with no RC trigger; and MAV_CMD_INJECT_FAILURE could target a single instance only.

Solution

• Hardware sensor injection: Off/Stuck hooks in PX4Accelerometer/Gyroscope/Magnetometer/Barometer/Rangefinder via the shared failure_injection::process() helper.
• GPS injection in all three GPS drivers (gps, septentrio, UAVCAN GNSS), addressable per uORB instance.
• RC aux-switch trigger: SYS_FAIL_RC_SRC selects AUX1–6 (mapped via RC_MAP_AUXn), with SYS_FAIL_RC_UNIT/SYS_FAIL_RC_MODE/SYS_FAIL_RC_INST describing the failure;
• MAV_CMD_INJECT_FAILURE instance bitmask (param4) support, plus a failure -m <mask> console option.
• distance_sensor added to the capability catalogue; FAILURE_UNIT_SYSTEM_ESC (106) mirrored from MAVLink (reserved, not yet implemented).
• SimulatorMavlink no longer re-applies accel/gyro/mag/baro failures, since the driver hooks now cover them in SITL too.

All new paths are gated by CONFIG_MODULES_FAILURE_INJECTION_MANAGER + SYS_FAILURE_EN.

[github-actions]

🔎 FLASH Analysis

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Updated: 2026-07-08T14:18:12

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