Does VTOL have EKF Failsafe?

ArduPlane VTOL Plane
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1

Hello.

I found parameter on SITL VTOL “FS_EKF_THRESH” but couldn’t find parameter that determine the action for EKF Failsafe.

Does VTOL have EKF Failsafe? or this parameter is just for future or legacy?

2

Take a look at the Plane Failsafe page. I believe you should be able to set what you need using FS_SHORT_ACTN or FS_LONG_ACTN

https://ardupilot.org/plane/docs/apms-failsafe-function.html#failsafe-parameters-and-their-meanings

3

Hello. I couldn’t find EKF failsafe description on your link.

And I saw somewhere EKF failsafe will use DCM matrix.

I guess you didnt experience EKF failsafe before in even multicopter. Because you are thinking RTL is available in EKF failsafe situation.

4

https://ardupilot.org/plane/docs/quadplane-flying.html#i-have-an-ekf-failsafe