Failsafes

The aircraft has numerous automatic failsafes that can trigger by something going wrong or to prevent such an occurrence. The aircraft will respond differently depending on the failsafe, but in general it will result in one of the following: continue the mission, fly to a planned rally location, start the planned landing sequence, or perform an emergency landing.

All failsafes will trigger a Failsafe Active Warning.

Changing the flight mode or target waypoint during a failsafe will override the failsafe action. This can result is a crash during critical situations such as low battery.

Contents

Failsafe Settings

Failsafe settings can be changed in the GCS from the Settings Tab ⇨ Failsafes.

Whenever the aircraft enters rally mode, it will fly to the closest rally loiter point defined in the mission plan.

  • Rally on loss of telemetry link - This option is always enabled and cannot be disabled. Losing the telemetry link in flight will cause the vehicle to enter rally mode.

  • Rally on loss of hand controller - If enabled, losing the hand controller link will cause the vehicle to enter rally mode.

  • Lost link timeout - The amount of time the vehicle will wait after losing link before entering rally mode. It is typical to increase this timeout when flying far from the ground station, as short periods of lost link are expected.

  • Time before landing - Once in rally mode, this is the amount time the vehicle will stay in rally mode before beginning the landing sequence. Note that the timer begins as soon as the mode changes to rally, not when the aircraft arrives at the rally location.

  • Geofence Radius - Once in rally mode, this is the amount time the vehicle will stay in rally mode before beginning the landing sequence. Note that the timer begins as soon as the mode changes to rally.

  • Geofence Altitude - Once in rally mode, this is the amount time the vehicle will stay in rally mode before beginning the landing sequence. Note that the timer begins as soon as the mode changes to rally.

Failsafe Triggers

Low Avionics Battery

The avionics battery has reached a low voltage of 7.0V or below.

  • The aircraft will switch to Rally and fly to the nearest rally point.

Critical Avionics Battery

The avionics battery has reached a critical voltage of 6.6V or below.

  • The aircraft will fly to the pre-planned landing pattern and proceed to autoland.
  • If no landing is planned, the aircraft will switch to Rally, fly to the nearest rally point, and loiter until fuel starvation.

No Telemetry Signal (GCS Failsafe)

Loss of communication between the GCS and the aircraft. A "No Telemetry Failsafe" warning will accompany this failsafe.

  • The aircraft will change mode to Rally after the lost link timeout and fly to the nearest rally point. If link is not regained before the "time before landing" elapses, the aircraft will proceed to the planned landing sequence. The timeouts can be changed in the Settings Tab ⇨ Failsafes.

No Hand Controller Signal

Loss of communication between the hand controller and the aircraft. The hand controller may have been accidentally unplugged or turn-off. A "No RC Input" caution will accompany this failsafe.

  • Optional, the aircraft will change mode to Rally, after the lost link timeout, and fly to the nearest rally point. The timeout and option to rally on loss of controller signal can be changed in the Settings Tab ⇨ Failsafes.

Circular Geofence Breach

The aircraft has breached the lateral boundaries of the circular geofence. This boundary is configurable as a radius from the home location. The area outside the boundary is shaded red in the GCS. The aircraft is allowed to breach the geofence, but it will immediately failsafe upon doing so.

  • The aircraft will switch to Rally and fly to the nearest rally point. The radius can be changed in the Settings Tab ⇨ Failsafes.

High Altitude Geofence Breach

The aircraft has breached the vertical boundary of the high altitude geofence. The altitude is configurable as either MSL or AH. The aircraft is allowed to breach the geofence, but it will immediately failsafe upon doing so.

  • The aircraft will switch to Rally and fly to the nearest rally point. The altitude can be changed in the Settings Tab ⇨ Failsafes.

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