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For safety, each relay's coil is connected to a multi-pole relay that is powered through a latching killswitch. This means that if the killswitch is hit, all relays will immediately lose power and disconnect, isolating each HV system. If a fault is read over the CAN bus, the coils can be unpowered through the power distribution board, providing the same result. For additional safety, we expect all critical systems to continuously broadcast a heartbeat packet. If any system's heartbeat packet is missed more than once in a row, we consider that a fault condition and isolate the HV bus. This also protects us from possible instability in the CAN network, ensuring that we never miss a critical message.
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