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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 )

Radio Failsafe:

• 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

Battery Failsafe:

• 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

Groundstation Failsafe:

• 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

EKF Failsafe:

• FS_EKF_ACTION = 1 (Land)

Remaining failsafes can use default parameters

Dead Reckoning:

Vibration:

Terrain Data Loss Failsafe:

Crash Check:

Parachute:

Independent Watchdog:

The listed parameters above are as follows in this .param file:

FS_OPTIONS,17
FS_THR_ENABLE,3
RC_FS_TIMEOUT,10
BATT_LOW_VOLT,40.8
BATT_LOW_MAH,0
BATT_FS_LOW_ACT,2
BATT_CRT_VOLT,37.2
BATT_CRT_MAH,0
BATT_FS_CRT_ACT,1
BATT_FS_VOLTSRC,0
BATT_LOW_TIMER,10
FS_GCS_TIMEOUT,10
FS_GCS_ENABLE,5
FS_EKF_ACTION,1
WPNAV_SPEED_DN,200
LAND_SPEED,50

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:

EKF Source switching for GPS denied environments needs to be configured as well:
https://ardupilot.org/copter/docs/common-ekf-sources.html#velocity-source-fusing

https://ardupilot.org/copter/docs/common-non-gps-to-gps.html#common-non-gps-to-gps

Arch doc implementation Info

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