Safety features
Ophion implements multiple safety functions to enhance operational security.
/safetyopts parameter
This bitwise parameter enables or disables various safety features.
/safetyopts
| Value | Name | Description |
|---|---|---|
| 1 | Disable disarm on device start | Disable disarm on device start. |
| 2 | Disarm on NaN cmd | If command (`cmd`) is NaN, device disarms and cannot be armed until reboot. |
Disarming block
A built-in safety system that, by default, requires cmd to be 0 before the device can be armed. The device remains in a disarmed state if cmd is not 0.
Disarm reason
Several potential safety risk sources can trigger the device's disarm state. Here's a comprehensive list of these sources:
- Positive values: The device can recover from the disarm state
- Negative values: The device remains disarmed until reboot
/disarm_reason
| Value | Name | Description |
|---|---|---|
| 0 | Armed | The system is armed and operational. |
| 1 | Startup disarm | After startup, throttle needs to be 0 (and valid) to arm the system. |
| 2 | Signal invalid | `cmd` is NaN |
| 10 | Secondary signal invalid | Level2 is invalid (only applies when `sig_path` is 3) |
| -18 | Permanent NaN disarm | Permanent disarm due to NaN `cmd` (only when `safetyopts` & 2) |
| 21 | Driver error | Driver or common block error state |
| 28 | CAN override | Application command overridden by CAN API or `run` command |