Rover GCS Failsafe

ArduRover Rover 4.7
1

I’m controlling a Pixhawk (with a Jetson companion computer) using QGC. If that connection breaks, I want the Ground Control Station Fail Safe to occur.

I set the appropriate params:

FS_ACTION 5
FS_GCS_ENABLE 1

FS_GCS_TIMEOUT 5.000000000000000000

SYSID_MYGCS 255

But the Pixhawk fails to disarm after I quit QGC. I think the main issue is that the safety page shows “not supported”.

Screenshot from 2026-07-10 17-04-58
Screenshot from 2026-07-10 17-04-583840×2400 219 KB

Any idea what’s causing it to not load?

2

Test it with mission planner. That is a QGControl issue, not an ArduRover firmware issue.

3

You’re right. Rover has a safety page in QGC, but not boat. Nonetheless, when I connected the Pixhawk to Mission Planner, and then quit Mission Planner, the GCS FS also didn’t execute. I used the exact same FS params with Arducopter, and it disarmed. Is this a bug with Rover? @rmackay9 @gmorph

4

Copter and Rover are not equivalent. FS_ACTION,5 should disarm. Do you have another MavLink stream active?

This likely has nothing to do with QGC.

See:

5

I had no RC but enabledFS_THR_ENABLE. So as soon as the flight controller booted, a FS_THR occurred which prevented FS_GCS _ENABLE from functioning properly. DisablingFS_THR_ENABLEfixed everything.

6

Hi @Aidan_Kwok1,

Txs for the follow-up and good to hear that you got it working.

I’m actually slightly surprised that the throttle failsafe interfered with the GCS failsafe although Rover’s failsafe handling code is simpler than Copter’s so I can imagine this is possible. Still, it sounds like an issue we should fix so I’ve added it to the 4.7 issues list.

7

@rmackay9

While it might be worth patching, disabling the throttle failsafe is documented at https://ardupilot.org/rover/docs/common-gcs-only-operation.html#common-gcs-only-operation