From 009786a33839700199875631e876257d208438c3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 18 Oct 2018 09:13:33 +1100 Subject: [PATCH] Plane: small update to failsafe documentation --- ArduPlane/Parameters.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index d57e38db4f..61eb1fa117 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -459,8 +459,8 @@ const AP_Param::Info Plane::var_info[] = { GSCALAR(throttle_passthru_stabilize,"THR_PASS_STAB", 0), // @Param: THR_FAILSAFE - // @DisplayName: Throttle Failsafe Enable - // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel + // @DisplayName: Throttle and RC Failsafe Enable + // @Description: This enables failsafe on loss of RC input. How this is detected depends on the type of RC receiver being used. For older radios an input below the THR_FS_VALUE is used to trigger failsafe. For newer radios the failsafe trigger is part of the protocol between the autopilot and receiver. // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", 1), @@ -468,7 +468,7 @@ const AP_Param::Info Plane::var_info[] = { // @Param: THR_FS_VALUE // @DisplayName: Throttle Failsafe Value - // @Description: The PWM level on channel 3 below which throttle failsafe triggers + // @Description: The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel. // @Range: 925 2200 // @Increment: 1 // @User: Standard @@ -492,7 +492,7 @@ const AP_Param::Info Plane::var_info[] = { // @Param: FS_SHORT_ACTN // @DisplayName: Short failsafe action - // @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. + // @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. // @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA,3:Disable // @User: Standard GSCALAR(fs_action_short, "FS_SHORT_ACTN", FS_ACTION_SHORT_BESTGUESS), @@ -524,7 +524,7 @@ const AP_Param::Info Plane::var_info[] = { // @Param: FS_GCS_ENABL // @DisplayName: GCS failsafe enable - // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED. + // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED. // @Values: 0:Disabled,1:Heartbeat,2:HeartbeatAndREMRSSI,3:HeartbeatAndAUTO // @User: Standard GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_FAILSAFE_OFF),