Hi.
Just got a new Aurora 9 to use with my APM projects. Previously was using a Futaba 12FG and i was able to set failsafe properly and works as it says in the wiki and what i want it to do, namely:
1. If in Auto remains in Auto and finish mission (disabled Short and Long Action failsafe as well as GCS failsafe)
2. If other modes circle for and the RTL as said in the wiki
Now with the Aurora 9 ive been cracking my head the whole day as i cant get it to work. The A9 has its own failsafe where i had to hold the link button for 6 seconds and it will record the position of all the sticks and all the switches.So the problem lies here if i am in any other mode than manual and i hit failsafe, it detects the low throttle pulse, say 970ms which i have set but also it reverts the mode switch to what it was set during the failsafe process. So if it was in Auto or stabilize it will drop back to Manual and carry on the circle and RTL routine which is not what is intended.
Seems like the TX/RX failsafe settings overwrite the APM failsafe.
So next i tried disabling the Hitec failsafe and just relink the tx with throttle range of +140% and -140% to get the low pulse. Reset to 100% after linking, calibrate with APM and set modes et. With this method, in the planner when i switch off the tx, it wont even drop the value to below the 100% pt, it dorps to 900ms for about less then a seconds then reverts to its last known position. Now i can get it to work if i trim the throttle down till it hits below my preset FS value and will go into faisafe routine accordingly and works perfect. But i cant be doing that in flight, problem is we never know when it will hit a failsafe.
Anyone has similiar issues and found a workaround..would appreciate if you could share. i switched to the Aurora 9 as i had very good experience with it and believe that the AFHSS is a very solid system but if the failsafe is interfering with APM failsafe its a minus point for me.
Regards,
Khairul
Replies
When the Hitec's failsafe is set up without the HPP-22 programmer it sets all the channels to whatever position they are in when you hold the link button down for the 6 secs. If you have the programmer you can set whatever PWM value you want on any channel. Without the programmer I setup the IdleDown function on the Tx to -50% on switch F, check the servo monitor or in the MP whether you are indeed getting a low PWM value on CH3 (<950ms), then set the mode switch on the Tx to whatever mode you want the plane to be in if failsafe kicks in, set SW-F to on (lower PWM), then hold the link button for the 6 secs.
Apparently with the new versions of ArduPilot coming out imminently you won't need to set the mode switch anymore and for me I have found that currently ArduPilot will always switch into circle mode for 20 secs and then to RTL (if the signal does not return). The latest version of the MP is missing the CGS failsafe and the long/short failsafe action.