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B3RB Status Lighting and Sounds

Status Lights

The tailights on the B3RB are used for showing the current system status and breathe to show the system is alive.

My status lights are not breathing, what's wrong?
  • If the status lights are not breathing and there is a startup sound check your board for:
  • If the status lights are not breathing and there is no startup sound it can be a sign there was a potential power event that occurred and the PMIC triggered the FS26 watchdog. Steps to fix watchdog timeout:
    1. Check all wiring is plugged in correctly.
    2. Power off the board.
    3. Remove the jumper JP1 (pins 1-2 open), which is connected by default.
    4. Power on the board.
    5. Reconnect the jumper JP1 (pins 1-2 shorted).

Startup Lights

[ ] [ ] Startup breathing light pattern [Safety On, Disarm, Mode Unknown].

Safety Lights

Safety On Lights

[ ] [ ] The outer set of lights are green when the Safety is On.

Safety Off Lights

[ ] [ ] The outer set of lights are red when the Safety is Off.

Arming and Critical Fuel Lights

Disarmed Lights

[ ] [ ] The middle set of lights are green when Disarmed.

Armed Lights

[ ] [ ] The middle set of lights are red when Armed.

Fuel Critical Lights

[ ] [ ] The middle set of lights are yellow when Fuel is Critical.

Mode Lights

Mode Unknown Lights

[ ] [ ] The inner set of lights are white when Mode Unknown.

Mode Manual Lights

[ ] [ ] The inner set of lights are green when Mode Manual.

Mode CMD_VEL Lights

[ ] [ ] The inner set of lights are blue when Mode CMD_VEL.

Mode Calibration Lights

[ ] [ ] The inner set of lights are yellow when Mode Calibration.


Status Sounds

These sounds allow for audio based system diagnosis.


Startup Sound

Flight of the Alicanto

Flight of the Alicanto startup sound signifies the system has booted.

I plugged power in but didn't hear the sound, what's wrong?
  • If the status lights are breathing but there is no sound check your board setup for:
  • If there is no startup sound when powered on and the status lights are not breathing there is a potential that a power event occurred and the PMIC triggered the FS26 watchdog. Steps to fix watchdog timeout:
    1. Check all wiring is plugged in correctly.
    2. Power off the board.
    3. Remove the jumper JP1 (pins 1-2 open), which is connected by default.
    4. Power on the board.
    5. Reconnect the jumper JP1 (pins 1-2 shorted).

State Change Request Sounds

Rejected State Change Request

Low tone followed by mid-high-low-mid-high sinusoid.

I keep hearing this rejection sound, what is causing it?
  • The rejection sound comes from the Finite State Machine (FSM) rejecting a transition request by the request not passing the transition guards.
  • More information about the request rejection can be seen in with:
    • ros2 topic echo /cerebri/out/status
    • Electrode below the fuel gauge in the Foxglove layout.

Mode Sounds

Manual Sound

Morse Code 1 for manual mode enum (. - - - -)

CMD_VEL Sound

Morse Code 3 for CMD_VEL mode enum (. . . - -)

Calibration Sound

Morse Code 4 for calibration mode enum (. . . . -)


Safety Sounds

Safety Off Sound

Morse Code S increasing long octaves (- - -)

Safety On Sound

Morse Code S decreasing long octaves (- - -)


Arming Sounds

Arm Sound

Morse Code A mid-high tone (. -)

Disarm Sound

Morse Code A mid-low tone (. -)


Connection Loss Sounds

Joy Input Loss Sound

Morse Code E every 3 seconds ( . ) (sounds only after safety is off).


Fuel Status Sounds

Fuel Low Sound

Morse Code EK every 10 seconds ( . - . - )

Fuel Critical Sound

Morse Code EK continuous ( . - . - )