FS_GCS_ENABLE is set to 2, a value that no longer exists
What ArduPilot says:
- PreArm: FS_GCS_ENABLE=2 removed, see FS_OPTIONS
FS_GCS_ENABLE 2 used to mean “RTL, but carry on with the mission in Auto”. That choice moved to FS_OPTIONS years ago. With 2 the copter now does a plain RTL when the ground station is lost, in Auto as well. The line is shown with the pre-arm checks every 30 seconds, but it does not by itself stop arming.
What to do, most likely first
The parameters came from a very old setup or guide.
CheckThe Failsafe Explainer shows what your copter will do when the ground station is lost.
FixSet
FS_GCS_ENABLEto 1 (RTL) or another value from its list. If the mission should go on in Auto without the ground station, also set bit 1 ofFS_OPTIONS.
Parameters to look at
| Parameter | What it is |
|---|---|
FS_GCS_ENABLE | Ground Station Failsafe Enable |
FS_OPTIONS | Failsafe options bitmask |
Where to do it:Failsafe ExplainerSetup & Tuning Guide
The code that sends it
PreArm: FS_GCS_ENABLE=2 removed, see FS_OPTIONS
ArduCopter/AP_Arming.cpp AP_Arming_Copter::parameter_checks() · Open in ArduPilot Copter-4.6.3
ArduCopter/AP_Arming_Copter.cpp AP_Arming_Copter::parameter_checks() · Open in ArduPilot Copter-4.7.1