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Technical Details/Changelog
Normal Flight Test: (See https://ardupilot.org/copter/docs/failsafe-landing-page.html )
Radio failsafe:
RC_FS_TIMEOUT:
Battery Failsafe
Groundstation Failsafe
EKF Failsafe:
Dead Reckoning:
Vibration:
Terrain Data Loss Failsafe:
Crash Check:
Parachute:
Independent Watchdog:
Competition:
A TODO before the comp: Save the configuration profile to the ground station so we have a backup before any big modification to flight profile.
The flight readiness review requires the following:
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The failsafe should be triggered when GCS and Radio are both disconnected.
It appears that there is no way to trigger after BOTH gcs and radio disconnect. To handle this the FS_OPTIONS parameter can be used to only trigger failsafe in specific conditions, as described below
Normal Flight Test: (See https://ardupilot.org/copter/docs/failsafe-landing-page.html )
FS_THR_ENABLE = 3 - Enabled Always Land
FS_OPTIONS = 17 - Continue if in auto mode on Radio Failsafe & Continue in pilot control on Ground Control Station Failsafe
RC_FS_TIMEOUT = 10 seconds
BATT_LOW_VOLT = 40.8V - (3.4v/cell)
BATT_LOW_MAH = 0 (only voltage is used)
BATT_FS_LOW_ACT = 2 (RTL)
BATT_CRT_VOLT = 37.2V - (3.1V/cell)
BATT_CRT_MAH = 0 - (only voltage is used
BATT_FS_CRT_ACT = 1 (LAND)
BATT_FS_VOLTSRC = 0 - Do not use sag-compensated voltage
BATT_LOW_TIMER = 10 seconds
FS_GCS_TIMEOUT = 10 seconds
FS_GCS_ENABLE = 5 - Enabled Always Land
FS_OPTIONS = 17 - Continue if in auto mode on Radio Failsafe & Continue in pilot control on Ground Control Station Failsafe
FS_EKF_ACTION = 1 (Land)
Remaining failsafes can use default parameters
Dead Reckoning:
Vibration:
Terrain Data Loss Failsafe:
Crash Check:
Parachute:
Independent Watchdog:
Competition:
A TODO before the comp: Save the configuration profile to the ground station so we have a backup before any big modification to flight profile.
Task 1:
Task 2:
Arch doc implementation Info
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