进行了水面端测试

src/pPowerManger/pmSysvariable.h

@@ -423,6 +423,7 @@ namespace PMMode {
 //工况定义
 namespace WorkCondition {
   enum Type : unsigned char {
+    CHANING = 0,                // 工况切换中
     STANDBY = 1,                // 待机工况
     SHORE_BASED_READY = 2,      // 岸基备航
     WATER_BASED_READY = 3,      // 水中备航
@@ -509,5 +510,57 @@ struct DeviceSwitchCmd
   int cmd;
 };
 
+namespace FaultEnable {
+  enum Type : bool {
+    BasicNavigationFault_1 = true, // 使能故障
+    BasicNavigationFault_2 = false,
+    BasicNavigationFault_3 = false,
+    BasicNavigationFault_4 = false,
+    BasicNavigationFault_5 = false,
+    BasicNavigationFault_6 = false,
+    BasicNavigationFault_7 = false,
+    BasicNavigationFault_8 = false,
+    BasicNavigationFault_9 = false,
+    BasicNavigationFault_10 = false,
+
+    ExtendedNavigationFault_1 = false, // 使能故障
+    ExtendedNavigationFault_2 = false,
+    ExtendedNavigationFault_3 = false,
+    ExtendedNavigationFault_4 = false,
+
+    ObstacleAvoidanceFault_1 = false, // 使能故障
+    ObstacleAvoidanceFault_2 = false,
+    ObstacleAvoidanceFault_3 = false,
+
+    BuoyancyControlFault_1 = false, // 使能故障
+    BuoyancyControlFault_2 = false,
+    BuoyancyControlFault_3 = false,
+    BuoyancyControlFault_4 = false,
+
+    CommunicationSystemFault_1 = false, // 使能故障
+    CommunicationSystemFault_2 = false,
+    CommunicationSystemFault_3 = false,
+
+    PayloadSystemFault_1 = false, // 使能故障
+    PayloadSystemFault_2 = false,
+    PayloadSystemFault_3 = false,
+    PayloadSystemFault_4 = false,
+    PayloadSystemFault_5 = false,
+    PayloadSystemFault_6 = false,
+    PayloadSystemFault_7 = false,
+
+    EmergencySystemFault_1 = false, // 使能故障
+    EmergencySystemFault_2 = false,
+    EmergencySystemFault_3 = false,
+    EmergencySystemFault_4 = false,
+    EmergencySystemFault_5 = false,
+    EmergencySystemFault_6 = false,
+    
+    SensorSystemFault_1 = false, // 使能故障
+    SensorSystemFault_2 = false,
+    SensorSystemFault_3 = false,
+  };
+}
+
 
 #endif