  Cyber-Physical Systems (CPSs), such as Unmanned Aerial Vehicles (UAVs), use
System-on-Chip (SoC) based computing platforms to perform multiple complex
tasks in safety-critical applications that require a highly dependable
operation. Due to continuous technological manufacturing miniaturization SoCs
face a wide spectrum of chip-level reliability issues such as aging, soft and
hard errors during the operational lifetime of a UAV. In addition, external
(off-chip) faults in the sensors, actuators, and motors are another cause of
UAV failures. While existing works examine either on-chip faults (internal) or
sensors/actuators faults (external) separately, this research proposes a UAV
health monitoring infrastructure considering both external and internal faults
holistically. The proposed method relies on the IEEE 1687 standard (IJTAG) and
employs on-chip embedded instruments as health monitors to instantly access
external and internal sensor data. Experimental results for functional
simulation of a real-life case-study design demonstrate both types of fault
detection by serving only three clock cycles and the localization process using
16 and 30 clock cycles for the case of single and double faults, respectively.
