Fixed Wing and Hardware Config Service
Viewing this guide for
Applicable alarms (3)
ZIP_EXECUTIVE_CODE_SERVO_CALIBRATIONS_MISSINGHARDWARE_CONFIG_FILE_PARSE_ERRORSOFTWARE_CONFIGURATION_MISMATCH
Likely outcomes — click to expand
Based on 6,059 missions where this alarm fired in the last
90 days
(for SOFTWARE_CONFIGURATION_MISMATCH) as of 2026-10-13
Grounding vs discrepancy (of 51 ZERP issues filed on these missions)
Frequently replaced parts
| Part | P/N | Removals |
|---|---|---|
| PARALAND ASSY, AIRCRAFT, P2 | 18480 | 3 |
| HOVER AND SERVO AFT STBD(RH) FLEX HARNESS, ZIP, P2 | 0121836 | 1 |
| HOVER AND SERVO FWD STBD(RH) FLEX HARNESS, ZIP, P2 | 0121834 | 1 |
Frequently co-occurring alarms (% of the 6,059 missions above)
Aggregated from fleet operations and refreshed daily. Individual outcomes may vary by site and configuration.
These troubleshooting steps are applicable to the following questions and alarms:
- My Zip is supposed to fly fixed wing, but it isn’t
- The hardware config doesn’t seem to think this zip’s hardware can fly fixed wing
ZIP_EXECUTIVE_CODE_SERVO_CALIBRATIONS_MISSINGHARDWARE_CONFIG_FILE_PARSE_ERROR- I’m getting
SOFTWARE_CONFIGURATION_MISMATCHbut my firmware updated successfully- My firmware update didn’t update the servos in the wing
Background
Section titled “Background”Hardware Config Service is a software service running on docks, zips, and droids that gives hardware visibility to FlightSystems software. The service works by ingesting a hardware config file which is equivalent to the as-maintained BOM that we see on Zerp (i.e. Zip 647 BOM on Zerp ) and builds IPC messages for other services to make flight decisions.
There are features that depends on the hardware config service is Fixed Wing Flight.
- (In Commercial) Fixed Wing Capability looks at certain pieces of hardware being installed on a Zip in order to send a
fixed_wing_capablemessage for downstream consumers like Zip Executive On Call, GNC, and Motor Manager to check its hardware properly for preflight as well as during a mission. - (In Test) Determination between EV2 and EV2.1 Droids with different lead screws that need different functional mechanics to operate its doors
- (In Test) Determination between EV2 and EV3 Zips to determine fixed wing capability
The hardware config file today is updated by OTA every time ZipApps is selected and fetches the latest as-maintained BOM from Zerp and placed in the final location for Hardware Config Service to parse properly.
Troubleshooting Steps
Section titled “Troubleshooting Steps”graph TD
follow-the-applicable-steps-below-for-t{"<small><b>Step 1</b></small><br/>Question: Follow the applicable steps below for..."}
does-the-hardware-config-believe-that-t{"<small><b>Step 2</b></small><br/>Question: Does the hardware config believe that..."}
the-zip-is-hardware-capable-of-flying-f["<small><b>Step 3</b></small><br/>Action: The zip is hardware capable of flying..."]
follow-the-steps-in-the-hardware-config["<small><b>Step 4</b></small><br/>Action: Follow the steps in 'The hardware con..."]
is-the-software-config-updated-to-allow{"<small><b>Step 5</b></small><br/>Question: Is the software config updated to all..."}
the-zip-is-allowed-to-fly-fixed-wing{{"<small><b>Step 6</b></small><br/>Escalation: The zip is allowed to fly fixed wing...."}}
the-zip-needs-to-be-added-to-zip-fleet["<small><b>Step 7</b></small><br/>Action: The zip needs to be added to Zip Flee..."]
zip-executive-code-servo-calibrations-m["<small><b>Step 8</b></small><br/>Action: Go to section 'The hardware config do..."]
use-ota-to-update-zipapps-to-the-curren["<small><b>Step 9</b></small><br/>Action: Use OTA to update ZipApps to the curr..."]
software-configuration-mismatch-go-to-s["<small><b>Step 10</b></small><br/>Action: Go to section 'The hardware config do..."]
review-the-zips-bom-in-zerp{"<small><b>Step 11</b></small><br/>Question: Review the zip's BOM in zerp. i.e. ..."}
your-file-is-out-of-date-use-ota-to-upd["<small><b>Step 12</b></small><br/>Action: Your file is out of date. Use OTA to ..."]
update-the-hardware-to-meet-the-conditi["<small><b>Step 13</b></small><br/>Action: Update the hardware to meet the condi..."]
follow-the-applicable-steps-below-for-t -->|My Zip is supposed to fly f...| does-the-hardware-config-believe-that-t
follow-the-applicable-steps-below-for-t -->|ZIP_EXECUTIVE_CODE_SERVO_C...| zip-executive-code-servo-calibrations-m
follow-the-applicable-steps-below-for-t -->|HARDWARE_CONFIG_FILE_PARSE...| use-ota-to-update-zipapps-to-the-curren
follow-the-applicable-steps-below-for-t -->|SOFTWARE_CONFIGURATION_MIS...| software-configuration-mismatch-go-to-s
follow-the-applicable-steps-below-for-t -->|The hardware config doesn't...| review-the-zips-bom-in-zerp
does-the-hardware-config-believe-that-t -->|Yes, the message is TRUE| the-zip-is-hardware-capable-of-flying-f
does-the-hardware-config-believe-that-t -->|No, the message is FALSE| follow-the-steps-in-the-hardware-config
the-zip-is-hardware-capable-of-flying-f --> is-the-software-config-updated-to-allow
follow-the-steps-in-the-hardware-config --> review-the-zips-bom-in-zerp
is-the-software-config-updated-to-allow -->|Yes, the message is FALSE| the-zip-is-allowed-to-fly-fixed-wing
is-the-software-config-updated-to-allow -->|No, the message is TRUE| the-zip-needs-to-be-added-to-zip-fleet
zip-executive-code-servo-calibrations-m --> review-the-zips-bom-in-zerp
software-configuration-mismatch-go-to-s --> review-the-zips-bom-in-zerp
review-the-zips-bom-in-zerp -->|Yes, the hardware meets the...| your-file-is-out-of-date-use-ota-to-upd
review-the-zips-bom-in-zerp -->|No, the hardware does not m...| update-the-hardware-to-meet-the-conditi
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style the-zip-is-allowed-to-fly-fixed-wing fill:#fef3c7,stroke:#f59e0b,color:#78350f
style the-zip-needs-to-be-added-to-zip-fleet fill:#dcfce7,stroke:#22c55e,color:#14532d
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style update-the-hardware-to-meet-the-conditi fill:#dcfce7,stroke:#22c55e,color:#14532d Hover or focus a block to preview it. Select the block to keep the preview open.
1 question
Follow the applicable steps below for the issue.
If you exhaust all of the steps in this troubleshooting guide and the issue is not resolved, escalate to Manufacturing On Call.
Select the applicable issue:
If you exhaust all of the steps in this troubleshooting guide and the issue is not resolved, escalate to Manufacturing On Call.
Select the applicable issue:
2 question
Does the hardware config believe that the zip is fixed_wing_capable? Is the following message in the zip's logs TRUE ?
/compute_a.hardware_config_feature_status.fixed_wing_capable 3 action
The zip is hardware capable of flying fixed wing. Go to the next section to make sure the zip is allowed to fly fixed wing
4 action
Follow the steps in "The hardware config doesn't seem to think this zip's hardware can fly fixed wing"
5 question
Is the software config updated to allow the zip to transition into fixed wing? Is the following message in the zip's logs FALSE ?
/compute_a.software_config_feature_flag_status.is_fixed_wing_disabled 6 escalation
The zip is allowed to fly fixed wing. If you are still not seeing the zip fly fixed wing, this means that control conditions are not met to transition into fixed wing or the hardware has issues transitioning into fixed wing mode.
Escalate to P2 Zip Controls On Call to review logs further.
Escalate to P2 Zip Controls On Call to review logs further.
7 action
The zip needs to be added to Zip Fleet "Fixed Wing Allowed" in Zerp in order to send the proper software configuration to set this message to False.
Contact the test site lead to add the Zip to the "Fixed Wing Allowed" Zip Fleet.
Contact the test site lead to add the Zip to the "Fixed Wing Allowed" Zip Fleet.
8 action
Go to section "The hardware config doesn't seem to think this zip's hardware can fly fixed wing"
NOTE: Pay close attention to the sections of the BOM for Port Wing and Starboard Wing and make sure those meet the conditions.
NOTE: Pay close attention to the sections of the BOM for Port Wing and Starboard Wing and make sure those meet the conditions.
9 action
Use OTA to update ZipApps to the current software release. The action will trigger a hardware config fetch from zerp.
10 action
Go to section "The hardware config doesn't seem to think this zip's hardware can fly fixed wing"
NOTE: Pay close attention to the sections of the BOM for Port Wing and Starboard Wing and make sure those meet the conditions.
NOTE: Pay close attention to the sections of the BOM for Port Wing and Starboard Wing and make sure those meet the conditions.
11 question
Review the zip's BOM in zerp. (i.e. Zip 647 BOM on Zerp). In order to be fixed wing capable, the following conditions in the BOM must be met (Code source):
- Parachute Part Number ends in: (-006, -008, -991, -993)
- Port Wing Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Starboard Wing Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Port Tail Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Starboard Tail Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
Does the BOM meet the conditions for fixed wing capable?
- Parachute Part Number ends in: (-006, -008, -991, -993)
- Port Wing Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Starboard Wing Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Port Tail Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
- Starboard Tail Part Number ends in: (-012, -997, -998) OR servos (-006, -007, -010, -011)
Does the BOM meet the conditions for fixed wing capable?
12 action
Your file is out of date. Use OTA to update ZipApps to the existing software release. The action will trigger a hardware config fetch from zerp.
13 action
Update the hardware to meet the conditions. Then use OTA to update ZipApps to the existing software release. The action will trigger a hardware config fetch from Zerp.
If the hardware does meet the conditions but Zerp does not register the hardware properly (i.e. the wing PN+SN is correct, but there is no servo on Zerp. There are servos physically on the wing). Escalate to Manufacturing On Call.
Example issue that should be escalated: Wing 000-513000128 physically has servos installed, but Zerp does not show servos under its BOM
If the hardware does meet the conditions but Zerp does not register the hardware properly (i.e. the wing PN+SN is correct, but there is no servo on Zerp. There are servos physically on the wing). Escalate to Manufacturing On Call.
Example issue that should be escalated: Wing 000-513000128 physically has servos installed, but Zerp does not show servos under its BOM
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