A failsafe triggered, but the copter carries on with what it was doing

The failsafe is real (the link is lost or the battery is low), but FS_OPTIONS tells the copter not to change mode in this case. “Continuing Landing”: it was already landing and bit 3 is set; “Radio + Battery” or “GCS + Battery” means a battery failsafe had ordered that landing. “Continuing Auto” and “Continuing Auto Mode”: the mission goes on without the radio (bit 0) or without the ground station (bit 1). “Continuing Guided Mode”: bit 2. “Continuing Pilot Control”: the ground station is lost while you fly by the sticks (bit 4, set by default).

What to do, most likely first

1. It is what FS_OPTIONS asks for: the bit for this case is set.

   CheckRead FS_OPTIONS: bit 0 continue Auto on radio loss, 1 continue Auto on ground-station loss, 2 continue Guided on radio loss, 3 continue a landing, 4 continue pilot control on ground-station loss.

   FixDecide bit by bit whether you want it. A mission that continues without the radio must end with a landing or RTL command; otherwise the copter hovers at the last waypoint with nobody able to command it until the battery failsafe acts.

Why the link or the battery failed is explained under the plain lines “Radio Failsafe”, “GCS Failsafe” and “Battery Failsafe”.

Parameters to look at

Where to do it:Failsafe ExplainerFailsafe ExplainerSetup & Tuning Guide