TX2 Circuit self-test function and self-test status check

I have new project need TX2 Circuit self-test function and self-test status check, so,

  1. How to activate the self-test function?
  2. What information is required to complete the self-test?
  3. Can it be displayed by analog telemetry or software status telemetry?
  4. Is there a recommended setting for multi-machine master-slave management?

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