Internal Leak Failsafe

If sub is equipped with a leak detector internally, then a failsafe can be enabled when a leak is detected. Sub provides the ability to have up to three detectors. Each detector can be either analog or digital. When a leak from any detector is detected, a failsafe can be enabled to occur.

For the remainder of this article, the first leak detector’s parameters will used for example.

When the failsafe will trigger

If FS_LEAK_ENABLE is non-zero, then if the detector attached to a logical pin on the autopilot designated by LEAK1_PIN is analog (LEAK1_TYPE = “0”), it’s considered active (“1”) if its voltage is > 2.0V. Digital sensors (LEAK1_TYPE = “1”) present a logic level. Whether the active level of an analog sensor or the logic level from a digital sensor is taken as “dry” is determined by the LEAK1_LOGIC parameter.

What will happen

When the failsafe occurs, the action taken is determined by the value of FS_LEAK_ENABLE:

• Disabled (Value 0) will disable the failsafe entirely.

• Warn Only (Value 1) will send a GCS warning message.

• Enter SURFACE Mode (Value 2).