Accessing Advanced Failsafe Parameters - Copter 3.4.6

ArduCopter Copter 3.4
1

Hi Everybody,

I am try to set up my copter to return to home (or a predefined waypoint) after after losing comms with my GCS when in AUTO mode outside of RC range (FS_THR_ENABLE = 2 - Enabled Continue with Mission in Auto Mode ).

I am attempting to enable advanced failsafe (AFS_ENABLE = 1) to be able to set AFS_WP_COMMS. However, AFS_ENABLE does not seem to appear in the parameter list. Does another parameter need to be enabled to access AFS_ENABLE? The ArduCopter releasenotes.txt document says “Advanced Failsafe for use in OutBack challenge (see http://ardupilot.org/plane/docs/advanced-failsafe-configuration.html)” was added in Copter 3.4.0-rc3 and doesn’t seem to mention it being removed. http://ardupilot.org/copter/docs/parameters.html# also still documents the AFS parameters.

It would be great if someone was able to point me in the right direction.

Thanks,
Luke

2

Hello,
Did you have a look at http://ardupilot.org/copter/docs/common-rally-points.html for alternate RTL destination?
Why put FS_THR_ENABLE to 2 when using 1 trigger the RTL it seem what you want, no? If you are using RC_OVERRIDE, you should use http://ardupilot.org/copter/docs/parameters.html#fs-gcs-enable-ground-station-failsafe-enable

To have acces to AFS you need to compile a version with AFS support : in config.h set # define ADVANCED_FAILSAFE ENABLE

3

Advanced Failsafe isn’t included in default builds, you’ll need to build it yourself if you need it.

Have you looked at the GCS failsafe?

4

Thanks for your replies khancyr and Francisco,

I did not realise that AFS was not compiled in the standard firmware. I’ll recompile with it enabled as you both suggested.

@khancyr - I do not want the copter to RTL on loss RC as I will be flying in AUTO mode beyond the range of my RC transmitter.

@OXINARF - I originally tried to use GCS failsafe as I assumed it would operate the same as it does in APM Plane (There is no dependence on RC_OVERIDE in Plane) I am not using a joystick, but simply sending the copter to a series of waypoints several kilometers away in AUTO mode. Therefore, RC_OVERIDE isn’t being used and RTL is not triggered in the event of a GCS comms loss.

I see that there was a discussion on this topic a few years ago where it was decided to add the RTL functionality in GUIDED mode. https://groups.google.com/forum/#!topic/drones-discuss/VZ84Wz59Pfc Is there a reason why this could not include AUTO mode? Perhaps only trigger RTL when both RC and GCS comms have been lost?

For example, in the ‘void Copter::failsafe_gcs_check()’ function in events.cpp the check could be amended from

if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
        return;
    }

to

 if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED && !(failsafe.radio && control_mode == AUTO)))) {
        return;
    }

I realise that with a properly planned AUTO mission the aircraft will still return to home, but unfortunately it’s a requirement for me to have some form of situational awareness of the copter on my GCS when it enters “Beyond Visual Line of Sight”, otherwise I must RTL.

5

Advanced Failsafe isn’t included in default builds, you’ll need to build it yourself if you need it.

In Arducopter/APM_config.h un-comment Line (define ADVANCED_FAILSAFE ENABLED // enabled advanced failsafe which allows running a portion of the mission in failsafe events) and add <“LIBRARIES += AP_AdvancedFailsafe”> In Arducopter/make.inc

After this you can see the enable advanced fail-safe (AFS_ENABLE = 0) in full parameter list. Once after enabling advanced fail-safe (AFS_ENABLE = 1), refresh the parameter and search for AFS_ you can see a list of all parameters related to AFS.