feat(px4): add failure injection setup page - #14578
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #14578 +/- ##
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+ Coverage 25.47% 32.42% +6.95%
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Files 769 785 +16
Lines 65912 67362 +1450
Branches 30495 31198 +703
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+ Hits 16788 21839 +5051
+ Misses 37285 30820 -6465
- Partials 11839 14703 +2864
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@bkueng @hamishwillee FYI This would be the PR for the UI side of the Failure injection refactor. |
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Pull request overview
This PR adds a new PX4 Vehicle Setup page for injecting simulated failures using MAV_CMD_INJECT_FAILURE, gated by the presence of SYS_FAILURE_EN on the connected vehicle. It also updates MAVLink to a newer commit and extends the MAVLink-enum generator so QML can reflect the FAILURE_UNIT/FAILURE_TYPE catalogs directly from the MAVLink dialect.
Changes:
- Add a PX4 “Failure Injection” setup component + QML page (instance selection, activity log, reset-all).
- Add a QML singleton (
FailureInjection) which builds unit/type catalogs from MAVLink enum reflection and tracks session activity. - Update MAVLink git tag and adjust enum-generation to provide QML-reflectable
FAILURE_UNIT/FAILURE_TYPEenums, plus add unit/integration/UI tests.
Reviewed changes
Copilot reviewed 18 out of 18 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| tools/generators/mavlink_enums.py | Extends QML enum header generation to locally redeclare specific enums for QML reflection. |
| cmake/CustomOptions.cmake | Bumps the MAVLink repository commit/tag used by the build. |
| src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h | Adds the Failure Injection component member/include. |
| src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc | Conditionally adds the Failure Injection setup page when SYS_FAILURE_EN exists. |
| src/AutoPilotPlugins/PX4/FailureInjectionComponent.qml | Implements the full PX4 setup UI for injecting and resetting failures via MAVLink command. |
| src/AutoPilotPlugins/PX4/FailureInjectionInstances.js | Shared instance-selection logic for mapping selected instances to MAVLink params. |
| src/AutoPilotPlugins/PX4/FailureInjectionComponent.h | Declares the new Vehicle Setup component wrapper. |
| src/AutoPilotPlugins/PX4/FailureInjectionComponent.cc | Implements component metadata and QML source wiring. |
| src/AutoPilotPlugins/PX4/FailureInjection.h | Declares the QML singleton API and activity/catalog properties. |
| src/AutoPilotPlugins/PX4/FailureInjection.cc | Builds catalogs from Q_ENUM_NS metadata and manages activity + injected-unit tracking. |
| src/AutoPilotPlugins/PX4/CMakeLists.txt | Adds new C++ sources and QML/JS resources to the PX4 plugin build. |
| test/UnitTestFramework/QmlTesting/tests/tst_FailureInjectionInstances.qml | Unit tests for the shared JS instance-selection logic. |
| test/AutoPilotPlugins/PX4/FailureInjectionTest.h | Declares unit tests for the FailureInjection singleton model/logic. |
| test/AutoPilotPlugins/PX4/FailureInjectionTest.cc | Implements unit tests for catalog building and activity/injected tracking behavior. |
| test/AutoPilotPlugins/CMakeLists.txt | Registers the new FailureInjection unit test target. |
| test/QmlUITests/FailureInjectionUITest.h | Declares an integration UI test that drives injection/reset through the real UI. |
| test/QmlUITests/FailureInjectionUITest.cc | Implements the UI test using PX4 MockLink and QML objectName lookups. |
| test/QmlUITests/CMakeLists.txt | Adds the new FailureInjection UI test to the test build/ctest list. |
| property Fact _sysFailureEn: controller.getParameterFact(-1, "SYS_FAILURE_EN", true /* reportMissing */) | ||
| property bool _paramSet: _sysFailureEn && _sysFailureEn.value === 1 | ||
| property bool _pendingReboot: false // SYS_FAILURE_EN just toggled, reboot not yet triggered | ||
| property bool _armed: _paramSet // PX4 honors SYS_FAILURE_EN at boot; arm once the param reads 1 |
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| property int _unitIndex: 4 // GPS | ||
| property int _typeIndex: 1 // Off | ||
| property var _selectedInstances: [1] // 1-based instance numbers | ||
| readonly property int _instanceCount: 8 // fixed number of selectable instances (not tied to the unit) |
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| Q_PROPERTY(QVariantList units READ units CONSTANT) ///< [{ name, unit, max }] | ||
| Q_PROPERTY(QVariantList types READ types CONSTANT) ///< [{ name, type }] |
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| // One ack arrived: resolve the matching log row (only one is pending at a time), then send the next. | ||
| function _onAck(ackResult) { | ||
| FailureInjection.resolveResult(ackResult) // no-op when the head was a reset (no pending row) |
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Build ResultsPlatform Status
All builds passed. Pre-commit
Pre-commit hooks: 0 passed, 0 failed, 0 skipped. Test Resultslinux-coverage-integration: 36 passed, 0 skipped Code CoverageCoverage: 68.9% No baseline available for comparison Artifact Sizes
Updated: 2026-07-24 21:54:27 UTC • Commit: b1ef562 • Triggered by: Android |
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FYI: Since we are currently in Stable 5.1 lockdown this won't get merged until we create the 5.1 branch. |
added 7 commits
July 23, 2026 11:55
- Introduced FailureInjection and FailureInjectionComponent classes to manage simulated sensor and system failures. - Updated CMakeLists.txt to include new source files and tests for Failure Injection. - Implemented QML interface for Failure Injection, allowing users to inject failures and view activity logs. - Enhanced MAVLink enums to support new FAILURE_UNIT and FAILURE_TYPE enums for failure injection. - Added unit tests for FailureInjection functionality to ensure proper behavior and integration.
…pdate UI components
…lity functions for unit/type indexing
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Pull request overview
Copilot reviewed 18 out of 19 changed files in this pull request and generated 3 comments.
Comments suppressed due to low confidence (1)
src/AutoPilotPlugins/PX4/FailureInjectionComponent.qml:393
- The command preview string is user-visible but not translatable. Please wrap it in qsTr (with %n placeholders) so it can be localized like the rest of the page.
return "MAV_CMD_INJECT_FAILURE param1=" + u.unit +
" param2=" + t.type + " param3=" + p3 +
" param4=" + s.param4 + " (i=" + s.label + ")"
| // Holds MAV_CMD_INJECT_FAILURE sends not yet dispatched. Each entry is sent only once the | ||
| // previous one's ack has come back through onMavCommandResult/_onAck, so at most one is ever | ||
| // in flight at a time. | ||
| property var _sendQueue: [] // outstanding sends: [{ unit, type, instance, logArgs|null }] |
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| return "MAV_CMD_INJECT_FAILURE param1=" + _units[_unitIndex].unit + | ||
| " param2=" + _types[_typeIndex].type + " (no instance selected)" |
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| function onMavCommandResult(vehicleId, targetComponent, command, ackResult, failureCode) { | ||
| if (command === _cmdInjectFailure) { | ||
| _onAck(ackResult) | ||
| } |
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Description
Failure injection support in PX4 is being refactored and expanded, with the eventual goal of using it for hardware flight testing — for example, validating system response to a motor-out scenario.
As part of that, this PR adds a PX4 Vehicle Setup page for injecting simulated failures via
MAV_CMD_INJECT_FAILURE, so failsafe and EKF response can be validated from the UI instead of hand-crafting MAVLink commands.Operators pick a failure unit, type, and instance(s) and inject them directly through the page. The page only appears when
SYS_FAILURE_ENis present on the vehicle, which depends on the firmware being built with thefailure-injection-managermodule included — if the module isn't built in, the parameter is absent and the page stays hidden. The unit/type dropdowns are populated directly from MAVLink'sFAILURE_UNIT/FAILURE_TYPEenums, so new entries appear automatically as they're added to MAVLink.Display
Screencast.From.2026-07-01.19-28-43.mp4
Type of Change
Testing
Platforms Tested
Flight Stacks Tested
Screenshots
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By submitting this pull request, I confirm that my contribution is made under the terms of the project's dual license (Apache 2.0 and GPL v3).