RC_FS_TIMEOUT missing?

ArduCopter Copter 4.3
1

I am looking for the parameter RC_FS_TIMEOUT but is not available even when FS_THR_ENABLE is enabled.

My setup is as follows:
FS_THR_ENABLE 4
FS_OPTIONS 31
FS_DR_ENABLE 3
FS_EKF_ACTION 2
FS_GCS_ENABLE 0

Am I missing something that does not activate RC_FS_TIMEOUT?

Many Thanks,
Nikos

2

It is only available in the latest DEV version of firmware, which may not be suitable for flight.
RC_FS_TIMEOUT is not in Stable yet.

3

Many thanks for the info.

The only reason I was asking is because when I enable FS_THR_ENABLE (value 4) get random “Radio Failsafe” and recover within msec. so I was looking for a parameter to increase the timeout like FS_GCS_TIMEOUT and that should eliminate what I believe is a falls/positive or ultra fast recovery.

When this happens the quad and the TX are on the bench in Disarm and I am watching the Messages on the MP.

4

Check that FS_THR_VALUE is low enough, it should be about 30 below the value of RC3_MIN (if RC channel 3 is your throttle)
Some transmitters and receivers can also appear to lose signal when they are too close together.

Otherwise it can be the firmware detecting that there is missing frames - you might need to do some targeted searches regarding your receiver and flight controller.

5

Many thanks!

I need to lower the FS_THR_VALUE; changed it to 950 (RC3_IN is the throttle @ 988).

I use ELRS 3.2.1 with Radiomaster TX16S (100 mW) and Radiomaster RP3 200RX (Telemetry 100 mW).
The FC is a H743-Slim V3 running MatekH743-bdshot 4.3.6.

I will watch it with the lowered FS_THR_VALUE for a couple of hours. Then I will lower the Tx, one at a time, to the minimum value 25 mW and see the affects. I will put a sticker “25 mW!!!” on the Tx just in case lol.

I am sorry for the stupid question, will the logs show the possible missing frames and how do I search for it? Log Review? Text Log and word search?

I will let you know what I find for future reference.

Thanks!

6

I am done testing for tonight but changing the FS_THR_VALUE by -35 for a few hours have not produced any Radio Failsafe messages. Previous value was only -15. I will do some more testing tomorrow before any flights.

btw having the previous mentioned TX and RX within 30cm at full power for both transmitters (TX and RX/Telemetry) had no effect for Radio Failsafes with this equipment but is got to know in the troubleshooting tool bag!

Many thanks Shawn!

7

Because I needed a servo movement beyond 990-2000us I switch ELRS mode to FULL RES packet rates of 333Hz Full. There are two options available from ELRS Switch config.:

  • 16ch Rate/2 - All the Channels are sent 10-bit but at half rate.
  • 12ch Mixed - Channels 1 to 4 are sent 10-bit with Channel 5 (AUX1) in 1-bit (2-position) for Arming at the selected Packet Rate. Channels 6 to 13 are then sent at 10-bit but at half rate.

Either of the above modes gives a range of 885us to 2115us. Unfortunately, when I switch to either Ful Res modes the Radio Failsafe returns but now it takes a whole second to clear.

I switched the TX/RX between the 2 ELRS modes and every time was Full Res mode Radio Failsafes were messaged. btw I lowered the FS_THR_VALUE to 910 and still no change when was at the Full Res. mode.

I switched back to the F500/Wide mode and I need to figure out another way to get the same travel without the long servo travel.

Below the messages when in the Full Res. mode:

5/7/2023 11:00:06 PM : Radio Failsafe Cleared
5/7/2023 11:00:05 PM : Radio Failsafe - Disarming
5/7/2023 10:58:09 PM : Radio Failsafe Cleared
5/7/2023 10:58:08 PM : Radio Failsafe - Disarming
5/7/2023 10:57:18 PM : Radio Failsafe Cleared
5/7/2023 10:57:17 PM : Radio Failsafe - Disarming
5/7/2023 10:56:06 PM : EKF3 IMU0 is using GPS
5/7/2023 10:56:06 PM : EKF3 IMU0 origin set
5/7/2023 10:56:06 PM : EKF3 IMU1 is using GPS
5/7/2023 10:56:06 PM : EKF3 IMU1 origin set
5/7/2023 10:56:04 PM : Radio Failsafe Cleared
5/7/2023 10:56:04 PM : Radio Failsafe - Disarming
5/7/2023 10:55:42 PM : Radio Failsafe Cleared
5/7/2023 10:55:42 PM : Radio Failsafe - Disarming
5/7/2023 10:54:56 PM : EKF3 IMU0 MAG0 initial yaw alignment complete
5/7/2023 10:54:56 PM : EKF3 IMU1 MAG0 initial yaw alignment complete
5/7/2023 10:54:56 PM : EKF3 IMU1 tilt alignment complete
5/7/2023 10:54:56 PM : EKF3 IMU0 tilt alignment complete
5/7/2023 10:54:55 PM : AHRS: EKF3 active
5/7/2023 10:54:55 PM : EKF3 IMU1 initialised
5/7/2023 10:54:55 PM : EKF3 IMU0 initialised
5/7/2023 10:54:53 PM : Relay1 HIGH
5/7/2023 10:54:53 PM : GPS 1: specified as UAVCAN1-125
5/7/2023 10:54:53 PM : RCOut: DS600:1-4 PWM:5-10 PWM:12-13
5/7/2023 10:54:53 PM : AHRS: DCM active
5/7/2023 10:54:53 PM : ArduPilot Ready

Let me know if you want the Log file.