I turn throttle failsafe ON and adjust threshold to 1050.
Adjust my radio to set throttle pwm to 1000 when switched off.
When I switch off my radio, failsafe kicks in and first it goes to CIRCLE mode then 15-20 seconds later to RTL mode.
But I want APM to continue if failsafe is triggered when AUTO mode.
I turn Short and Long Failsafe to 0 (off) but nothing changes.
Whatever I do, first CIRCLE then RTL.
Please help.
Regards.
Replies
Hello, I confirm too,
it seems there is a bug in the code.
Whatever I configure, first CIRCLE then RTL
ANYWAY, i think that the failsafe in Arduplane is a source of problem and isn't compatible with any radio:
1) Firstly : lot of radio RX have failsafe for each channel (you cannot choose which channel have failsafe position or not).
When a faisafe kicks in, each servos takes a failsafe position (not only the mode selection) that is different of TIME-1 before failsafe event.
The problem is that your plane moves its servos on each failsafe event. And after that, APM takes control of the plane (circle mode). BUT if you regain radio control just after; the plane moves again its servos depending of your TX commands.
These situations can switch over very quikly (1-2 secondes for each situation)
Conclusion : I 've lost control and I've crashed my plane with brief tops radio.
2) Secondly : Failsafe event is not temporised at the source (ie : timer in RX failsafe is impossible in FRSKY for example), and we cannot leave servos in last good position during losing radio-> see above
Solutions for minimal crash :
- Buy a RX with only trottle channel failsafe (like futaba) and configure timers on radio losing event (1.5 seconds circle and 20 seconds RTL)
- OR Change APM code on failsafe detection (that i did) :
On the radio : - generate heart beat on channel 7 of your RX (easy with ER9X), cable this on a free channel on APM.
- disable failsafe mode on your RX (servos positon doesn't change on radio losing event)
In APM : - detect lost of heart beat with a timer, and activate RTL at the end of this timer
- test when you regain radio control that APM stay in RTL mode till you decide to change for an another mode.
Results :
- Losing radio for 1 or 2 seconds : my plane continue to fly keeping servos in last good position
- Losing radio for 5-10 seconds : my plane engages RTL mode till I decide to change for an another modes
- (and It can detect a radio software bug)
If it could help...
Hi,
I also wanted missions to proceed even when beyone RC range. My solution was to disable failsafe on the APM, and set failsafe on my R/C system to output a PWM on ch8 that gets me AUTO flight mode.
This of course has the drawback that AUTO is triggered if you are flying around manually and lose signal. Fixed by entering a mission plan with just one waypoint near home and at high enough height, making the mission effectively RTL.
Regards
Soren
Derin,
If you set FS_SHORT_ACTN = 0 then you will eliminate the Circle function after a loss of signal of 1.5 sec. However you won't see any response to a failsafe condition until a loss of more than 20 sec. at which time FS_LONG_ACTN will go into RTL if FS_LONG_ACTN=1. Without modifying the code I don't think there is a way to change FS_SHORT_ACTN to anything but NO action or CIRCLE.
Arduplane Failsafe Documentation (APM 2.x)
Regards,
Nathaniel ~KD2DEY
http://code.google.com/p/ardupilot-mega/wiki/APM2xFailsafe