We are planning to have some kind of fault log, which records fault conditions.
The exact implementation is still somewhat TBD, but I imagine the fault log would contain the timestamp, fault code, and maybe some captured data.
It could be easy enough as retrieving ASCII data. Example use case:
- BMS has 10 different faults
- FC requests fault count, BMS reports “10”
- FC requests fault “1”
- BMS sends details (in string format) for fault 1
- FC loops to fault 10
Is there already an easy way in UAVCAN to allow for this kind of communications?