Common ACK Error Codes. More...
#include <dji_error.hpp>
Static Public Attributes | |
| static const uint16_t | SUCCESS = 0x0000 |
| static const uint16_t | KEY_ERROR = 0xFF00 |
| static const uint16_t | NO_AUTHORIZATION_ERROR = 0xFF01 |
| static const uint16_t | NO_RIGHTS_ERROR = 0xFF02 |
| static const uint16_t | SYSTEM_ERROR = 0xFF03 |
| static const uint16_t | NO_RESPONSE_ERROR = 0xFFFF |
| static const uint8_t | MOTOR_FAIL_NONE = 0 |
| static const uint8_t | MOTOR_FAIL_COMPASS_ABNORMAL = 1 |
| static const uint8_t | MOTOR_FAIL_ASSISTANT_PROTECTED = 2 |
| static const uint8_t | MOTOR_FAIL_DEVICE_LOCKED = 3 |
| static const uint8_t | MOTOR_FAIL_IMU_NEED_ADV_CALIBRATION = 5 |
| static const uint8_t | MOTOR_FAIL_IMU_SN_ERROR = 6 |
| static const uint8_t | MOTOR_FAIL_IMU_PREHEATING = 7 |
| static const uint8_t | MOTOR_FAIL_COMPASS_CALIBRATING = 8 |
| static const uint8_t | MOTOR_FAIL_IMU_NO_ATTITUDE = 9 |
| static const uint8_t | MOTOR_FAIL_NO_GPS_IN_NOVICE_MODE = 10 |
| static const uint8_t | MOTOR_FAIL_BATTERY_CELL_ERROR = 11 |
| static const uint8_t | MOTOR_FAIL_BATTERY_COMMUNICATION_ERROR = 12 |
| static const uint8_t | MOTOR_FAIL_BATTERY_VOLTAGE_TOO_LOW = 13 |
| static const uint8_t | MOTOR_FAIL_BATTERY_USER_LOW_LAND = 14 |
| static const uint8_t | MOTOR_FAIL_BATTERY_MAIN_VOL_LOW = 15 |
| static const uint8_t | MOTOR_FAIL_BATTERY_TEMP_VOL_LOW = 16 |
| static const uint8_t | MOTOR_FAIL_BATTERY_SMART_LOW_LAND = 17 |
| static const uint8_t | MOTOR_FAIL_BATTERY_NOT_READY = 18 |
| static const uint8_t | MOTOR_FAIL_RUNNING_SIMULATOR = 19 |
| static const uint8_t | MOTOR_FAIL_PACK_MODE = 20 |
| static const uint8_t | MOTOR_FAIL_IMU_ATTI_LIMIT = 21 |
| static const uint8_t | MOTOR_FAIL_NOT_ACTIVATED = 22 |
| static const uint8_t | MOTOR_FAIL_IN_FLYLIMIT_AREA = 23 |
| static const uint8_t | MOTOR_FAIL_IMU_BIAS_LIMIT = 24 |
| static const uint8_t | MOTOR_FAIL_ESC_ERROR = 25 |
| static const uint8_t | MOTOR_FAIL_IMU_INITING = 26 |
| static const uint8_t | MOTOR_FAIL_UPGRADING = 27 |
| static const uint8_t | MOTOR_FAIL_HAVE_RUN_SIM = 28 |
| static const uint8_t | MOTOR_FAIL_IMU_CALIBRATING = 29 |
| static const uint8_t | MOTOR_FAIL_TAKEOFF_TILT_TOO_LARGE = 30 |
| static const uint8_t | MOTOR_FAIL_RESERVED_31 = 31 |
| static const uint8_t | MOTOR_FAIL_RESERVED_32 = 32 |
| static const uint8_t | MOTOR_FAIL_RESERVED_33 = 33 |
| static const uint8_t | MOTOR_FAIL_RESERVED_34 = 34 |
| static const uint8_t | MOTOR_FAIL_RESERVED_35 = 35 |
| static const uint8_t | MOTOR_FAIL_RESERVED_36 = 36 |
| static const uint8_t | MOTOR_FAIL_RESERVED_37 = 37 |
| static const uint8_t | MOTOR_FAIL_RESERVED_38 = 38 |
| static const uint8_t | MOTOR_FAIL_RESERVED_39 = 39 |
| static const uint8_t | MOTOR_FAIL_RESERVED_40 = 40 |
| static const uint8_t | MOTOR_FAIL_INVALID_SN = 41 |
| static const uint8_t | MOTOR_FAIL_RESERVED_42 = 42 |
| static const uint8_t | MOTOR_FAIL_RESERVED_43 = 43 |
| static const uint8_t | MOTOR_FAIL_FLASH_OPERATING = 44 |
| static const uint8_t | MOTOR_FAIL_GPS_DISCONNECT = 45 |
| static const uint8_t | MOTOR_FAIL_INTERNAL_46 = 46 |
| static const uint8_t | MOTOR_FAIL_RECORDER_ERROR = 47 |
| static const uint8_t | MOTOR_FAIL_INVALID_PRODUCT = 48 |
| static const uint8_t | MOTOR_FAIL_RESERVED_49 = 49 |
| static const uint8_t | MOTOR_FAIL_RESERVED_50 = 50 |
| static const uint8_t | MOTOR_FAIL_RESERVED_51 = 51 |
| static const uint8_t | MOTOR_FAIL_RESERVED_52 = 52 |
| static const uint8_t | MOTOR_FAIL_RESERVED_53 = 53 |
| static const uint8_t | MOTOR_FAIL_RESERVED_54 = 54 |
| static const uint8_t | MOTOR_FAIL_RESERVED_55 = 55 |
| static const uint8_t | MOTOR_FAIL_RESERVED_56 = 56 |
| static const uint8_t | MOTOR_FAIL_RESERVED_57 = 57 |
| static const uint8_t | MOTOR_FAIL_RESERVED_58 = 58 |
| static const uint8_t | MOTOR_FAIL_RESERVED_59 = 59 |
| static const uint8_t | MOTOR_FAIL_RESERVED_60 = 60 |
| static const uint8_t | MOTOR_FAIL_IMU_DISCONNECTED = 61 |
| static const uint8_t | MOTOR_FAIL_RC_CALIBRATING = 62 |
| static const uint8_t | MOTOR_FAIL_RC_CALI_DATA_OUT_RANGE = 63 |
| static const uint8_t | MOTOR_FAIL_RC_QUIT_CALI = 64 |
| static const uint8_t | MOTOR_FAIL_RC_CENTER_OUT_RANGE = 65 |
| static const uint8_t | MOTOR_FAIL_RC_MAP_ERROR = 66 |
| static const uint8_t | MOTOR_FAIL_WRONG_AIRCRAFT_TYPE = 67 |
| static const uint8_t | MOTOR_FAIL_SOME_MODULE_NOT_CONFIGURED = 68 |
| static const uint8_t | MOTOR_FAIL_RESERVED_69 = 69 |
| static const uint8_t | MOTOR_FAIL_RESERVED_70 = 70 |
| static const uint8_t | MOTOR_FAIL_RESERVED_71 = 71 |
| static const uint8_t | MOTOR_FAIL_RESERVED_72 = 72 |
| static const uint8_t | MOTOR_FAIL_RESERVED_73 = 73 |
| static const uint8_t | MOTOR_FAIL_NS_ABNORMAL = 74 |
| static const uint8_t | MOTOR_FAIL_TOPOLOGY_ABNORMAL = 75 |
| static const uint8_t | MOTOR_FAIL_RC_NEED_CALI = 76 |
| static const uint8_t | MOTOR_FAIL_INVALID_FLOAT = 77 |
| static const uint8_t | MOTOR_FAIL_M600_BAT_TOO_FEW = 78 |
| static const uint8_t | MOTOR_FAIL_M600_BAT_AUTH_ERR = 79 |
| static const uint8_t | MOTOR_FAIL_M600_BAT_COMM_ERR = 80 |
| static const uint8_t | MOTOR_FAIL_M600_BAT_DIF_VOLT_LARGE_1 = 81 |
| static const uint8_t | MOTOR_FAIL_BATTERY_BOLTAHGE_DIFF_82 = 82 |
| static const uint8_t | MOTOR_FAIL_INVALID_VERSION = 83 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_GYRO_ABNORMAL = 84 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_ESC_PITCH_NO_DATA = 85 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_ESC_ROLL_NO_DATA = 86 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_ESC_YAW_NO_DATA = 87 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_FIRM_IS_UPDATING = 88 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_OUT_OF_CONTROL = 89 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_PITCH_SHOCK = 90 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_ROLL_SHOCK = 91 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_YAW_SHOCK = 92 |
| static const uint8_t | MOTOR_FAIL_IMU_CALI_SUCCESS = 93 |
| static const uint8_t | MOTOR_FAIL_TAKEOFF_EXCEPTION = 94 |
| static const uint8_t | MOTOR_FAIL_ESC_STALL_NEAR_GOUND = 95 |
| static const uint8_t | MOTOR_FAIL_ESC_UNBALANCE_ON_GRD = 96 |
| static const uint8_t | MOTOR_FAIL_ESC_PART_EMPTY_ON_GRD = 97 |
| static const uint8_t | MOTOR_FAIL_ENGINE_START_FAILED = 98 |
| static const uint8_t | MOTOR_FAIL_AUTO_TAKEOFF_LAUNCH_FAILED = 99 |
| static const uint8_t | MOTOR_FAIL_ROLL_OVER_ON_GRD = 100 |
| static const uint8_t | MOTOR_FAIL_BAT_VERSION_ERR = 101 |
| static const uint8_t | MOTOR_FAIL_RTK_INITING = 102 |
| static const uint8_t | MOTOR_FAIL_RTK_FAIL_TO_INIT = 103 |
| static const uint8_t | MOTOR_FAIL_RESERVED_104 = 104 |
| static const uint8_t | MOTOR_FAIL_RESERVED_105 = 105 |
| static const uint8_t | MOTOR_FAIL_RESERVED_106 = 106 |
| static const uint8_t | MOTOR_FAIL_RESERVED_107 = 107 |
| static const uint8_t | MOTOR_FAIL_RESERVED_108 = 108 |
| static const uint8_t | MOTOR_FAIL_RESERVED_109 = 109 |
| static const uint8_t | START_MOTOR_FAIL_MOTOR_STARTED = 110 |
| static const uint8_t | MOTOR_FAIL_INTERNAL_111 = 111 |
| static const uint8_t | MOTOR_FAIL_ESC_CALIBRATING = 112 |
| static const uint8_t | MOTOR_FAIL_GPS_SIGNATURE_INVALID = 113 |
| static const uint8_t | MOTOR_FAIL_GIMBAL_CALIBRATING = 114 |
| static const uint8_t | MOTOR_FAIL_FORCE_DISABLE = 115 |
| static const uint8_t | TAKEOFF_HEIGHT_EXCEPTION = 116 |
| static const uint8_t | MOTOR_FAIL_ESC_NEED_UPGRADE = 117 |
| static const uint8_t | MOTOR_FAIL_GYRO_DATA_NOT_MATCH = 118 |
| static const uint8_t | MOTOR_FAIL_APP_NOT_ALLOW = 119 |
| static const uint8_t | MOTOR_FAIL_COMPASS_IMU_MISALIGN = 120 |
| static const uint8_t | MOTOR_FAIL_FLASH_UNLOCK = 121 |
| static const uint8_t | MOTOR_FAIL_ESC_SCREAMING = 122 |
| static const uint8_t | MOTOR_FAIL_ESC_TEMP_HIGH = 123 |
| static const uint8_t | MOTOR_FAIL_BAT_ERR = 124 |
| static const uint8_t | IMPACT_IS_DETECTED = 125 |
| static const uint8_t | MOTOR_FAIL_MODE_FAILURE = 126 |
| static const uint8_t | MOTOR_FAIL_CRAFT_FAIL_LATELY = 127 |
| static const uint8_t | KILL_SWITCH_ON = 135 |
| static const uint8_t | MOTOR_FAIL_MOTOR_CODE_ERROR = 255 |
Detailed Description
Common ACK Error Codes.
- Deprecated:
- This error code type is deprecated and will replaced by new errorcode in the future.
Member Data Documentation
◆ IMPACT_IS_DETECTED
|
static |
The aircraft detects an impact if the measured value of accelerometer exceeds 8g near ground.
◆ KILL_SWITCH_ON
|
static |
The aircraft kill switch is on, please disable it
◆ MOTOR_FAIL_APP_NOT_ALLOW
|
static |
APP stops the takeoff.
◆ MOTOR_FAIL_ASSISTANT_PROTECTED
|
static |
The aircraft is connected to the software for debugging parameters via the USB cable.
◆ MOTOR_FAIL_AUTO_TAKEOFF_LAUNCH_FAILED
|
static |
During automatic take-off, the status of aircraft doesn't change from "on the ground" to "in the air" in 5s.
◆ MOTOR_FAIL_BAT_ERR
|
static |
The battery is not in place.
◆ MOTOR_FAIL_BAT_VERSION_ERR
|
static |
Battery version error. Please check the battery version.
◆ MOTOR_FAIL_BATTERY_CELL_ERROR
|
static |
Error occured in the battery cell.
◆ MOTOR_FAIL_BATTERY_COMMUNICATION_ERROR
|
static |
Battery communication is abnormal.
◆ MOTOR_FAIL_BATTERY_MAIN_VOL_LOW
|
static |
The voltage is below the second-level power set by user.
◆ MOTOR_FAIL_BATTERY_NOT_READY
|
static |
This error occurs whin 7s after power up. Also, it occurs if the battery certification hasn't passed yet.
◆ MOTOR_FAIL_BATTERY_SMART_LOW_LAND
|
static |
Flight contol calculates that current power is only adequate to land.
◆ MOTOR_FAIL_BATTERY_USER_LOW_LAND
|
static |
The volume (%) is below the second-level power set by user.
◆ MOTOR_FAIL_BATTERY_VOLTAGE_TOO_LOW
|
static |
Battery voltage is below the minimum allowable value.
◆ MOTOR_FAIL_COMPASS_ABNORMAL
|
static |
The compass being used appears as follows:
(1) The compass data has too much noise.
(2) The compass data is stuck.
(3) The compass is disconnected.
(4) Compass user compilation error.
For the flight control of N3, A3 and M600, there are more situations:
(5) The compass is disturbed.
(6) Multiple compasses point different directions.
(7) Compass calibration failed.
(8) The compass is not calibrated.
◆ MOTOR_FAIL_COMPASS_CALIBRATING
|
static |
Compass is being calibrated.
◆ MOTOR_FAIL_COMPASS_IMU_MISALIGN
|
static |
Compass direction is not the same with IMU.
◆ MOTOR_FAIL_CRAFT_FAIL_LATELY
|
static |
The aircraft recently had an error of NO. 125.
◆ MOTOR_FAIL_DEVICE_LOCKED
|
static |
The structure of the parameter list has changed after the FW upgrade.
◆ MOTOR_FAIL_ENGINE_START_FAILED
|
static |
During starting, the speed of any motor is less than the minimum starting speed.
For N3 and A3, the minimum starting speed is 100rpm.
For M600, the minimum starting speed is 700rpm.
For other aircrafts, the minimum starting speed is 1100rpm.
◆ MOTOR_FAIL_ESC_CALIBRATING
|
static |
The esc is in calibration.
◆ MOTOR_FAIL_ESC_ERROR
|
static |
The status output by any esc is unhealthy.
◆ MOTOR_FAIL_ESC_NEED_UPGRADE
|
static |
ESC needs upgrade.
◆ MOTOR_FAIL_ESC_PART_EMPTY_ON_GRD
|
static |
There are some no-load motors. Please check the status of the motors and blades.
◆ MOTOR_FAIL_ESC_SCREAMING
|
static |
The ESC is in the buzzing mode.
◆ MOTOR_FAIL_ESC_STALL_NEAR_GOUND
|
static |
The motor is locked. Please check the status of the motors and blades.
◆ MOTOR_FAIL_ESC_TEMP_HIGH
|
static |
The temperature of ESC is too high.
◆ MOTOR_FAIL_ESC_UNBALANCE_ON_GRD
|
static |
The feedback speed of motor is different with the input command.
◆ MOTOR_FAIL_FLASH_OPERATING
|
static |
accessing flash data, MCU is blocked
◆ MOTOR_FAIL_FLASH_UNLOCK
|
static |
The flash is unlocked.
◆ MOTOR_FAIL_FORCE_DISABLE
|
static |
The aircraft is force locked by APP.
◆ MOTOR_FAIL_GIMBAL_ESC_PITCH_NO_DATA
|
static |
There is an gimbal pitch motor error which happens only in M600.
◆ MOTOR_FAIL_GIMBAL_ESC_ROLL_NO_DATA
|
static |
There is an gimbal roll motor error which happens only in M600.
◆ MOTOR_FAIL_GIMBAL_ESC_YAW_NO_DATA
|
static |
There is an gimbal yaw motor error which happens only in M600.
◆ MOTOR_FAIL_GIMBAL_FIRM_IS_UPDATING
|
static |
The gimbal is updating. Please wait for the upgrade.
This happens only in M600.
◆ MOTOR_FAIL_GIMBAL_GYRO_ABNORMAL
|
static |
There is an gimbal attitude error which happens only in M600.
◆ MOTOR_FAIL_GIMBAL_PITCH_SHOCK
|
static |
The gimbal has self-oscillation in the pitch direction.
Please lock the camera or reduce the gimbal sensitivity.
◆ MOTOR_FAIL_GIMBAL_ROLL_SHOCK
|
static |
The gimbal has self-oscillation in the roll direction.
Please lock the camera or reduce the gimbal sensitivity.
◆ MOTOR_FAIL_GIMBAL_YAW_SHOCK
|
static |
The gimbal has self-oscillation in the yaw direction.
Please lock the camera or reduce the gimbal sensitivity.
◆ MOTOR_FAIL_GYRO_DATA_NOT_MATCH
|
static |
IMU direction is misaligned.
◆ MOTOR_FAIL_HAVE_RUN_SIM
|
static |
The simulator has already been run.
◆ MOTOR_FAIL_IMU_ATTI_LIMIT
|
static |
This error is caused by attitude limit of IMU if horizontal attitude output by navigation system is over 55 degrees when the system powered up for the first time.
◆ MOTOR_FAIL_IMU_BIAS_LIMIT
|
static |
The IMU is too biased if the gyro's bias is over 0.03rad/s or the accelerometer's bias is over 50 mg when first started up.
◆ MOTOR_FAIL_IMU_CALI_SUCCESS
|
static |
IMU calibration finished. Please reset aircraft.
◆ MOTOR_FAIL_IMU_CALIBRATING
|
static |
The IMU is in calibration or the aircraft should reset after IMU calibration.
◆ MOTOR_FAIL_IMU_DISCONNECTED
|
static |
IMU is disconnected. Please ask technical assistance for help if repeats after reset.
◆ MOTOR_FAIL_IMU_INITING
|
static |
The IMU is initializing.The attitude data of the current navigation system has not converged yet and the height data of the current navigation system is not ready.
◆ MOTOR_FAIL_IMU_NEED_ADV_CALIBRATION
|
static |
The IMU being used appears as follows:
(1) The accelerometer output exceeds its range.
(2) The accelerometer is stuck.
(3) The accelerometer data has too much noise.
(4) The accelerometer outputs illegal floating numbers.
(5) The factory data of IMU has exception.
(6) Multiple accelerometers output differently.
(7) The temperature of the IMU is too high.
(8) The temperature of the IMU is very high.
(9) The gyro output exceeds its range.
(10) The gyro is stuck.
(11) The gyro data has too much noise.
(12) The gyro outputs illegal floating numbers.
(13) Multiple accelerometers output differently.
(14) The temperature control of gyro is abnormal.
For the flight control of Inspire 2, there are more situations:
(15)The default IMU exception causes the switch to backup IMU.
◆ MOTOR_FAIL_IMU_NO_ATTITUDE
|
static |
The attitude data output by navigation system being used is zero.
◆ MOTOR_FAIL_IMU_PREHEATING
|
static |
The IMU being used is preheated and current temperature is not wihin the calibration range.
◆ MOTOR_FAIL_IMU_SN_ERROR
|
static |
The SN status is wrong.
◆ MOTOR_FAIL_IN_FLYLIMIT_AREA
|
static |
The drone is in the restricted take-off area.
◆ MOTOR_FAIL_INVALID_FLOAT
|
static |
The system detects illegal data.
◆ MOTOR_FAIL_INVALID_PRODUCT
|
static |
The firmware is unmatched with configured type.
◆ MOTOR_FAIL_INVALID_SN
|
static |
invalid serial number
◆ MOTOR_FAIL_INVALID_VERSION
|
static |
Version mismatch. Please check the firmware version.
◆ MOTOR_FAIL_M600_BAT_AUTH_ERR
|
static |
Battery certification failed.
Please ask technical assistance for help if repeats after reset.
◆ MOTOR_FAIL_M600_BAT_COMM_ERR
|
static |
Battery communication is abnormal.
Please check the battery connection.
◆ MOTOR_FAIL_M600_BAT_DIF_VOLT_LARGE_1
|
static |
Battery voltage difference is too large. Please check the battery status.
◆ MOTOR_FAIL_M600_BAT_TOO_FEW
|
static |
This error will happen only in M600 if the aircraft detects the battery number is not engouh.
Please insert more battery.
◆ MOTOR_FAIL_MODE_FAILURE
|
static |
Under the P stall, the aircraft mode degenerates to the Attitude mode.
◆ MOTOR_FAIL_MOTOR_CODE_ERROR
|
static |
The code logic is illegal.
◆ MOTOR_FAIL_NO_GPS_IN_NOVICE_MODE
|
static |
The aircraft is in Novice Mode without gps.
◆ MOTOR_FAIL_NOT_ACTIVATED
|
static |
The device is not activated.
◆ MOTOR_FAIL_NS_ABNORMAL
|
static |
navigation system abnormal
◆ MOTOR_FAIL_PACK_MODE
|
static |
The aircraft (Inspire series) is setting itself to packing config.
◆ MOTOR_FAIL_RC_CALI_DATA_OUT_RANGE
|
static |
RC calibration has an exception. Please calibrate the RC.
◆ MOTOR_FAIL_RC_CALIBRATING
|
static |
RC is in calibration. Please finish rc calibration.
◆ MOTOR_FAIL_RC_NEED_CALI
|
static |
The RC needs calibration. Please calibrate the RC.
◆ MOTOR_FAIL_RECORDER_ERROR
|
static |
SD card has an exception. Please repair SD card if repeats after reset.
◆ MOTOR_FAIL_ROLL_OVER_ON_GRD
|
static |
The aircraft is on a rollover on the ground or the attitude control fails near ground.
◆ MOTOR_FAIL_RTK_FAIL_TO_INIT
|
static |
rtk yaw and magnetometer yaw misaligned
◆ MOTOR_FAIL_RTK_INITING
|
static |
RTK initialization error.
◆ MOTOR_FAIL_RUNNING_SIMULATOR
|
static |
The simulator is running.
◆ MOTOR_FAIL_SOME_MODULE_NOT_CONFIGURED
|
static |
Some modules that must be configured have not been configured yet.
◆ MOTOR_FAIL_TAKEOFF_EXCEPTION
|
static |
The aircraft has rollover when taking off.
Please check the status of the IMU and motors.
◆ MOTOR_FAIL_TAKEOFF_TILT_TOO_LARGE
|
static |
The aircraft's horizontal attitude angle exceeds the limit angle when requesting automatic takeoff.
◆ MOTOR_FAIL_TOPOLOGY_ABNORMAL
|
static |
Each craft has a set of devices to register.
It won't take off if a class of device is missing. Please reset and check the connection.
◆ MOTOR_FAIL_UPGRADING
|
static |
The system is being upgraded.
◆ MOTOR_FAIL_WRONG_AIRCRAFT_TYPE
|
static |
The aircraft type in flash is unmatched with the type in firmware.
Please check the aircraft type.
◆ START_MOTOR_FAIL_MOTOR_STARTED
|
static |
The motor status shows the motor has been started.
◆ TAKEOFF_HEIGHT_EXCEPTION
|
static |
The height of the takeoff is abnormal.
This error happens when the takeoff height relative to ground is up to 100m.
The documentation for this class was generated from the following files:
- osdk-core/api/inc/dji_error.hpp
- osdk-core/api/src/dji_error.cpp