BATT FS not triggered RTL MODE

Running 4.2.1 AC on CUAV V5+ and tried battery failsafe function to be trigger as RTL mode as i configured below.
BATT_AMP_OFFSET,0
BATT_AMP_PERVLT,24
BATT_ARM_MAH,0
BATT_ARM_VOLT,13
BATT_CAPACITY,35000
BATT_CRT_MAH,0
BATT_CRT_VOLT,0
BATT_CURR_PIN,1
BATT_FS_CRT_ACT,0
BATT_FS_LOW_ACT,2
BATT_FS_VOLTSRC,1
BATT_LOW_MAH,0
BATT_LOW_TIMER,5
BATT_LOW_VOLT,13.3
BATT_MONITOR,4
BATT_OPTIONS,0
BATT_SERIAL_NUM,-1
BATT_VLT_OFFSET,0
BATT_VOLT_MULT,18.30995
BATT_VOLT_PIN,0

as shown in the above setting BATT_FS_LOW _ACT = 2 should trigger RTL mode in 13.3V as configured in BATT_LOW_VOLT = 13.3 at BATT_LOW_TIMER - 5.
i was in GUIDED mode when its reaches about 13.3V at least for 5sec , but after reached 13v also autopilot doesn’t trigger RTL mode .
then i manually triggered RTL mode to land the quadcopter.
here is the log file https://drive.google.com/file/d/1Z7aO8JxLcHWSooivO-B5-KryS4KabA3r/view?usp=sharing

please any one help me why doesn’t trigger RTL model on Battery Failsafe?

Hi
Here is messages from MavExplorer:
MAV> messages
2022-08-17 10:16:59.000 Event: DATA_MOTORS_INTERLOCK_DISABLED
2022-08-17 10:16:59.722 ArduCopter V4.2.1 (c8b6b674)
2022-08-17 10:16:59.722 ChibiOS: 93e6e03d
2022-08-17 10:16:59.722 CUAVv5 00350035 3538510A 33303931
2022-08-17 10:16:59.722 Param space used: 1577/5376
2022-08-17 10:16:59.722 RC Protocol: SBUS
2022-08-17 10:16:59.722 New mission
2022-08-17 10:16:59.729 New rally
2022-08-17 10:16:59.729 Frame: QUAD/X
2022-08-17 10:16:59.729 GPS 1: specified as UAVCAN1-125
2022-08-17 10:17:10.514 Event: DATA_ARMED
2022-08-17 10:17:12.516 Event: DATA_MOTORS_INTERLOCK_ENABLED
2022-08-17 10:17:13.944 Event: DATA_AUTO_ARMED
2022-08-17 10:17:14.077 Event: DATA_NOT_LANDED
2022-08-17 10:17:16.414 EKF3 IMU0 MAG0 in-flight yaw alignment complete
2022-08-17 10:17:16.415 Event: DATA_EKF_YAW_RESET
2022-08-17 10:17:16.417 EKF3 IMU1 MAG0 in-flight yaw alignment complete
2022-08-17 10:17:31.513 Mission: 1 WP
2022-08-17 10:18:20.035 Reached command #1
2022-08-17 10:18:20.036 Mission: 2 WP
2022-08-17 10:23:01.639 Reached command #2
2022-08-17 10:23:01.639 Mission: 3 WP
2022-08-17 10:27:44.411 Reached command #3
2022-08-17 10:27:44.411 Mission: 4 WP
2022-08-17 10:30:06.225 Error: Subsys RADIO ECode 2
2022-08-17 10:30:06.225 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 10:30:06.225 Radio Failsafe - Continuing Auto Mode
2022-08-17 10:30:09.561 Error: Subsys FAILSAFE_RADIO ECode 0
2022-08-17 10:30:09.561 Radio Failsafe Cleared
2022-08-17 10:30:11.715 Reached command #4
2022-08-17 10:30:11.715 Mission: 5 WP
2022-08-17 10:30:16.858 Error: Subsys RADIO ECode 2
2022-08-17 10:30:16.858 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 10:30:16.858 Radio Failsafe - Continuing Auto Mode
2022-08-17 10:30:20.473 Reached command #5
2022-08-17 10:30:20.473 Mission: 6 WP
2022-08-17 10:30:34.526 Error: Subsys FAILSAFE_GCS ECode 1
2022-08-17 10:30:34.526 GCS Failsafe
2022-08-17 10:30:40.254 Error: Subsys FAILSAFE_RADIO ECode 0
2022-08-17 10:30:40.254 Radio Failsafe Cleared
2022-08-17 10:30:41.903 Error: Subsys RADIO ECode 2
2022-08-17 10:30:41.903 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 10:30:41.903 Radio Failsafe
2022-08-17 10:30:57.199 Error: Subsys FAILSAFE_RADIO ECode 0
2022-08-17 10:30:57.199 Radio Failsafe Cleared
2022-08-17 10:31:00.649 GCS Failsafe Cleared
2022-08-17 10:31:00.649 Error: Subsys FAILSAFE_GCS ECode 0
2022-08-17 10:31:05.553 Error: Subsys RADIO ECode 2
2022-08-17 10:31:05.553 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 10:31:05.553 Radio Failsafe
2022-08-17 10:31:16.882 Error: Subsys FAILSAFE_RADIO ECode 0
2022-08-17 10:31:16.882 Radio Failsafe Cleared
2022-08-17 10:31:33.218 Error: Subsys RADIO ECode 2
2022-08-17 10:31:33.218 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 10:31:33.218 Radio Failsafe
2022-08-17 10:31:48.675 Error: Subsys FAILSAFE_RADIO ECode 0
2022-08-17 10:31:48.676 Radio Failsafe Cleared
2022-08-17 11:07:02.132 Event: DATA_LAND_COMPLETE_MAYBE
2022-08-17 11:07:02.961 Event: DATA_LAND_COMPLETE
2022-08-17 11:07:03.486 Event: DATA_DISARMED
2022-08-17 11:07:03.487 Event: DATA_MOTORS_INTERLOCK_DISABLED
2022-08-17 11:08:47.354 Error: Subsys RADIO ECode 2
2022-08-17 11:08:47.354 Error: Subsys FAILSAFE_RADIO ECode 1
2022-08-17 11:08:47.354 Radio Failsafe - Disarming
2022-08-17 11:08:56.565 PreArm: Radio failsafe on
MAV>
Failsafe triggered and Cleared several times.
Set BATT_CRT_VOLT lower then BATT_LOW_VOLT,13.3 and BATT_FS_CRT_ACT to e.g. 4 or 2. Maybe problem is about timer BATT_LOW_TIMER,5 cant say but for sure you need some FS. If this has to do with Guided mode? Did you set BATT_CRT_VOLT,0 to check the system? This is above my knowlegde but your lowest volt was 11.92v. RTL mode was activated 4times.
RTL 4times

Regards Espen

Hi @kalai1219,

BATT_FS_VOLTSRC is set to “1” (Sag Compensated Voltage) which is higher than the regular reported voltage. I think with a bit more time it would have triggered.

Those failsafe was triggered by radio and data link only not by battery FS.

Thank you @rmackay9
This bit default value is - 0 ( RAW voltage). I didn’t changed this parameter manually for sure.

If this bit set to 0 will work properly ?

Yes, I think if you set BATT_FS_VOLTSRC to 0 it will work as you expect. Some people want to use the sag-compensated voltage, some want to use the raw voltage so it’s a bit hard to say what is “proper”… but this is why we have the parameter so users can choose. Hope that helps.

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Sorry, understand that. Was only trying to help. :slight_smile:
FYI: BATT_FS_VOLTSRC = 0 in my settings

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Thank you for your help .