# System monitoring

## Heartbeat

[Heartbeat](<../../features/heartbeat/index.md>) is a reference for checking whether communication with Autoware is being performed properly.

## Diagnostics

[Diagnostics](<../../features/diagnostics/index.md>) is a set of error levels for each functional unit of Autoware. The design and structure of functional units are system dependent. This is useful to identify the cause of an abnormality, for example the reason why the autonomous mode is not available.

## Fail-safe

The [MRM state](<../../features/fail-safe/index.md>) shows whether Autoware is executing a minimal risk maneuver (MRM) and whether it succeeded.