Kind

The drone power is low.

Motors have been cut out.

Emergency due to user’s request.

Motor error.

Battery is too hot.

Battery is too cold.

Battery gauge software update required.

Battery authentication has failed.

Battery poor connection.

Hovering is difficult due to a lack of GPS positioning and not enough light to use its vertical camera.

Hovering is difficult due to a lack of GPS positioning and drone is too high to use its vertical camera.

Drone will soon forcefully and automatically land because some battery issue (e.g. low power, low or high temperature…) does not allow to continue flying safely.

When at level

• .off: battery is OK and no automatic landing is scheduled;
• .warning: some battery issues have been detected, which will soon prevent the drone from flying safely. Automatic landing is scheduled;
• .critical: battery issues are now so critical that the drone cannot continue flying safely. Automatic landing is about to start in a matter of seconds

Remaining delay before automatic landing begins (when scheduled both at .warning and .critical levels), is accessible through the property automaticLandingDelay and the instrument is updated each time this value changes.

Wind strength alters the drone ability to fly properly.

• .off: wind is not strong enough to have significant impact on drone flight.
• .warning: wind is strong enough to alter the drone ability to fly properly.
• .critical: wind is so strong that the drone is completely unable to fly.

Vertical camera sensor alters the drone ability to fly safely.

• .off: No problem detected for the vertical camera
• .critical: Problems with the vertical camera resulted in a deterioration of flight stabilization. Flying is not recommended.

Vibrations alters the drone ability to fly properly.

• .off: detected vibration level is normal and has no impact on drone flight.
• .warning: detected vibration level is strong enough to alter the drone ability to fly properly, potentially because propellers are not tightly screwed.
• .critical: detected vibration level is so strong that the drone is completely unable to fly properly, indicating a serious drone malfunction.

A magnetic element disturbs the drone’s magnetometer and alters the drone ability to fly safely.

The local terrestrial magnetic field is too weak to allow to fly safely.

Drone heading lock altered by magnetic perturbations.

• .off: magnetometer state allows heading lock.
• .warning: magnetometer detects a weak magnetic field (close to Earth pole), or a perturbed local magnetic field. Magnetometer has not lost heading lock yet.
• .critical: magnetometer lost heading lock.

Propeller icing level.

Informs that drone propellers are iced, which results in a degraded flying behavior.

• .ok: the level of propeller icing is low or non-existent.
• .warning: the level of propeller icing begins to be too strong and can impact drone flying capacity.
• .critical: the level of propeller icing is high and will impact drone flying capacity and eventually damage motors.

Location information sent by the controller is unreliable.

Drone started three motors flight as one motor is not currently working.

Drone is avoiding an obstacle and distance from nominal trajectory exceeds threshold.

Drone is stuck by a presumably large obstacle.

Obstacle avoidance is disabled because perception system is unplugged or not working properly.

Obstacle avoidance is disabled because perception system lens is dirty or broken.

Obstacle avoidance is disabled because gimbal is not stabilized in direction of motion.

Obstacle avoidance is disabled because environment is too dark for perception system or vertical camera.

Obstacle avoidance is disabled because GPS and vertical camera do not provide reliable data.

Obstacle avoidance is disabled because perception system is not calibrated.

Obstacle avoidance is available and enabled but in degraded mode due to strong wind.

Obstacle avoidance is available and enabled but in degraded mode due to poor gps.

Obstacle avoidance is unavailable and disabled but failed to compute trajectories.

Obstacle avoidance is available and enabled but the perception system is blind in the current motion direction.

Obstacle avoidance is frozen. The drone does not respond to PCMD. Obstacle avoidance mode needs to be set to disabled for the drone to move again.

Drone inclination is to high to fly safely.

Horizontal geofence reached.

Vertical geofence reached.

Free fall detected.

Stereo camera is decalibrated.

Propeller are critically iced, so forced landing auto trigger is planned.

Battery is too hot, so forced landing auto trigger is planned.

Battery is too cold, so forced landing auto trigger is planned.

DRI is not functional.

Video signal processing is not functional.

Debug description.

Set containing all possible kinds of alarm.