Pilot Control Failsafe

Sub provides a failsafe mechanism in case pilot manual control is lost. Pilot control in Sub is provided by either or both of two ways: via GCS MAVLink RC override or Manual Control messages (stimulated by GCS Joystick) or by the optional RC control link.

When the failsafe will trigger

If FS_PILOT_INPUT is non-zero, then lack of both valid RC and MAVLink RC overrides from the GCS for greater than FS_PILOT_TIMEOUT will initiate the Pilot Input failsafe.

Note

if the RC failsafe is enabled with FS_THR_ENABLE nonzero, then Pilot Input failsafe will never be activated, only loss of RC will activate a failsafe even if the MAVLink overrides are lost from the GCS.

What will happen

When a Pilot Control failsafe is triggered, the vehicle can be configured via parameters to do nothing, send the GCS a warning message, or Disarm.

If the failsafe clears (i.e. RC control or MAVLink overrides from GCS is restored) the vehicle will remain in its failsafe mode. If it is disarmed, and the pilot wished to re-take control he/she would need to rearm the vehicle . This can be done via RC or GCS.

Setting the failsafe

In Mission Planner’s full parameter list or full parameter tree, set the FS_PILOT_INPUT parameter to:

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

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

  • Disarm (Value 2)