Avoiding a manned aircraft (ERR FAILSAFE_ADSB)
What ArduPilot says:
- ERR FAILSAFE_ADSB (Subsys 20)
ADS-B avoidance (AVD_ENABLE 1) judged another aircraft a collision threat and acted as AVD_F_ACTION says. The code is the action really taken: 1 report only, 2 climb or descend, 3 move away horizontally, 4 move at a right angle to the other aircraft's path, 5 RTL, 6 hover in Loiter. Code 0 means the threat has passed, or that the action could not be taken: the mode change was refused, or the copter was on the ground and disarmed. In Land, Throw and Flip nothing is done and nothing is logged. Afterwards AVD_F_RCVRY decides: 0 stay hovering in AVOID_ADSB, 1 the previous mode, 2 RTL, 3 back to Auto if that is where it was.
What to do, most likely first
An aircraft with a transponder came closer than
AVD_F_DIST_XYmetres across andAVD_F_DIST_Zmetres in height, or will do so withinAVD_F_TIMEseconds.CheckThe ground station's map shows the other aircraft and its height.
FixGive way: let the avoidance finish, bring the copter down and wait until the traffic has gone.
Parameters to look at
| Parameter | What it is |
|---|---|
AVD_ENABLE | Enable Avoidance using ADSB |
AVD_F_ACTION | Collision Avoidance Behavior |
AVD_F_RCVRY | Recovery behaviour after a fail event |
AVD_F_DIST_XY | Distance Fail XY |
AVD_F_DIST_Z | Distance Fail Z |
AVD_F_TIME | Time Horizon Fail |
AVD_F_ALT_MIN | ADS-B avoidance minimum altitude |