Drone Alarms & States
While using the DCC, drones can share important information to the operator using two different statuses: alarms and states.
Alarms are raised by drones to let the operator know that something is currently happening. It can range from having a hardware problem to having a low battery unfit for a flight.
Statuses purposes on the other hand, is to let the user know what action the drone is currently performing.
Most of the alarms configuration such as the LED colors or the thresholds can be configured. Please see Drones Configurations for more information.
In the case of Zephyrs, some alarms raised by the drone can trigger an RTH. Performing a RTH suppose that the GPS is usable. If that's not the case, the drone will perform a LAND instead.
List of Alarms
Alarms common to all drones
These alarms can be raised by both Zephyrs and Helios:
| Icon | Name | Description | LED Color | Action |
|---|---|---|---|---|
  | OK | Everything is ok, the drone is not raising any alarm | None | None |
  | Unknown | Catch all alarm if an unknown behavior is detected | None | link |
  | Bad Start Position | The drone can’t takeoff as it's current position is too far away from it's reference | 🟠 | link |
  | Geofencing | The drone has crossed one Geofencing box. If it was the first one, the drone will RTH. If this was the second, the drone will be killed | 🔵 | link |
  | Mobile Fencing | The drone will has crossed it's mobile-fencing cylinder boundaries. Zephyrs will RTH, Helios will LAND. | 🔵 | link |
  | Motor KO | One or more motors have a problem | 🔵 | link |
  | US KO | The ultrasound captor has a hardware problem | 🟢 | link |
  | Wi-Fi Fencing | The drone has not been able to communicate over Wi-Fi for too long | ⚪ | link |
  | No UWB Data | The drone has not been able to communicate over UWB for too long | 🟣 | link |
  | Bad Config | The drone's name isn't part of the choreography and/or one on the bundle files sent is invalid | 🔴 | link |
  | PCB KO | The firmware cannot communicate with the PCB | 🔴 | link |
  | Low Battery | The battery level is too low | 🔴 | link |
  | Magneto KO | The magnetometer has a hardware problem | 🔴 | link |
  | IMU KO | The IMU (accelerometer + gyroscope) has a hardware problem | 🔴 | link |
Specific to Zephyrs
Because Zephyrs have access to more captors and technologies (such as LoRa), these drones can also raise the following alarms:
| Icon | Name | Description | LED Color | Action |
|---|---|---|---|---|
  | High Vibration | The drone will RTH as a result of detected high vibrations | 🟤 | link |
  | Unbalanced | The drone will RTH as a result of a detected unbalanced motor thrust | 🟤 | link |
  | Lora Fencing | The drone has not been able to communicate over LoRa for too long | 🟤 | link |
  | Camera KO | The ventral camera has a problem | 🟢 | link |
  | Bad Magneto Calib | No calibration file has been found | 🟢 | link |
  | GPS KO | The gps has a hardware problem | 🔴 | link |
  | BARO KO | The barometer has a hardware problem | 🔴 | link |
  | GPS Spoofing | A GPS spoofing attack has been detected | 🟤 | link |
  | Too Hot | The drone temperature is over a specific threshold | 🔴 | link |
Fixing Alarms
A huge part of the operator role is to fix these alarms when raised by the drones. The following diagrams can help you to do so by following the recommended course of action.
Keep in mind that fixing alarms can be time-consuming during the setup phase. In some cases, it may be beneficial to fix them and replace the faulty drones immediately instead.
GEOFENCING
BAD_START_POS
WIFI_FENCING
The Wi-Fi Installation page can be helpful to double-check when this alarm is raised by multiple drones at the same time.
BAD_CONFIG
UNKNOWN, LORA_FENCING
MOTOR_KO
LOW_BATTERY
CAMERA_KO, MAGNETO_KO, BARO_KO, US_KO, IMU_KO, GPS_KO, NO_UWB_DATA
BAD_MAGNETO_CALIB
HIGH_VIBRATION, UNBALANCED
TOO_HOT
GPS_SPOOFING
MOBILE_FENCING
PCB_KO
States
States common to all drones
These states can appear on both Zephyrs and Helios:
| Icon | Name | Description |
|---|---|---|
  | Booting | The drone is currently booting and will be operationnal soon |
  | Landed | The drone is grounded and waiting for orders |
  | Mission | The drone is currently performing its mission (choreography, manual flight, etc…) |
  | Landing | The drone is landing |
  | Returning Home | The drone is performing an RTH |
  | Killed | The drone has been killed |
  | Rebooting | The drone is rebooting |
  | Flashing | A drone component is being flashed (firmware, pcb, gps chip, etc…) |
  | Resetting | The drone is resetting |
  | Emergency | The drone isn’t capable of flying. It may be due to a crash, a drone being flipped or other causes. |
  | Compiling Blackbox | The drone is gathering data and creating a blackbox of the current session |
  | Calibrating Magneto | The drone magnetometer is being calibrated |
  | Hovering | The drone is stationary flying and waiting orders |
  | Taking Off | The drone is taking off |
  | Unknown | The drone state is unknown. Please retrieve a blackbox in this case |
States specific to Zephyrs
| Icon | Name | Description |
|---|---|---|
| Returning Home | The drone is performing an RTH |
| Calibrating Magneto | The drone magnetometer is being calibrated |
| Hovering | The drone is stationary flying and waiting orders |