7. Checklist Failsafe

Pre-Flight

  1. Low Battery Failsafe:
    1. COM_LOW_BAT_ACT = 1 (Return Mode)
    2. BAT_LOW_THR = 0.2 (capacity [%])
    3. BAT_CRIT_THR = 0.1 (capacity [%])
    4. BAT_EMERGEN_THR = 0.05 (capacity [%])
  2. RC Loss Failsafe:
    1. COM_RC_LOSS_T = 0.5 (time to detect RC-loss [s])
    2. NAV_RCL_ACT = 2 (return Mode)
    3. NAV_RCL_LT = 120 (loiter time to recover RC [s])
  3. Data Link Loss Failsafe:
    1. COM_DL_LOSS_T = 10 (time to detect datalink-loss [s])
    2. NAV_DLL_ACT = 0 (no action if datalink-loss)
  4. Geofence Failsafe:
    1. GF_ACTION = 3 (Return Mode)
    2. GF_MAX_HOR_DIST = 3000 (max horizontal distance home-plane [m])
    3. GF_MAX_VER_DIST = 200 (max vertical distance home-plane [m])
    4. GF_COUNT = -1 (counter limit to detect Geofence)
  5. Return Home Settings:
    1. RTL_TYPE = 0 (direkt path to home)
    2. RTL_DESCEND_ALT = 100 (altitude to loiter above home [m])
    3. RTL_LAND_DELAY = 300 (land after delay [s])
    4. RTL_RETURN_ALT = 100 (altitude to flight to home [m])
  6. Land Mode Settings:
    1. COM_DISARM_LAND = 1 (disarm after delay [s])
  7. Position (GPS) Loss Failsafe:
    1. COM_POS_FS_DELAY = 1 (time to detect GPS-loss [s])
    2. COM_POSCTL_NAVL = 1 (assume no RC → Land Mode with heigt, Termination without)
    3. NAV_GPSF_LT = 10 (loiter time to recover GPS [s])
    4. NAV_GPSF_P = 0 (loiter pitch [deg])
    5. NAV_GPSF_R = 15 (loiter roll [deg])
    6. NAV_GPSF_TR = 0 (loiter thrust [%])
  8. Offboard Loss Failsafe
    1. COM_OF_LOSS_T = 0 (time to detect offboard-loss [s])
  9. Mission Failsafe
    1. MIS_DIST_1WP = 1500 (max distance home-wp1 [m])
    2. MIS_DIST_WPS = 2000 (max distance wp-wp [m])
  10. Traffic Avoidance Failsafe
    1. NAV_TRAFF_AVOID = 2 (Return Mode)
  • searchwing-checklist-failsafe.txt
  • Last modified: 2018/12/10 15:47
  • by j0ge4622