A flight termination was asked for and not done, or called off
What ArduPilot says:
- Unable to terminate, termination is not configured
- Aborting termination due to …
- AFS not enabled, can't terminate the vehicle
Something asked to terminate the flight: the ground station's terminate command, or a battery failsafe whose action is Terminate. “AFS not enabled” means AFS_ENABLE is 0: the Advanced Failsafe, the only thing in Plane that terminates, is off, so nothing happens. “termination is not configured” means AFS is on, but AFS_TERM_ACTION is neither 42 nor 43. “Aborting termination” means a termination that was under way has been called off by a command.
What to do, most likely first
A battery failsafe is set to Terminate while AFS is off: on low battery the plane does nothing at all.
Check
BATT_FS_LOW_ACTorBATT_FS_CRT_ACTis 3, and a battery failsafe line comes right before the message.FixGive the battery failsafes an action that works by itself: 1 (RTL) or 2 (Land).
The terminate button in the ground station was pressed.
FixNothing was done to the plane, and nothing needs fixing. If you do need termination, read what
AFS_TERM_ACTION42 does before you switch AFS on: it crashes the plane.
Parameters to look at
| Parameter | What it is |
|---|---|
AFS_ENABLE | Enable Advanced Failsafe |
AFS_TERM_ACTION | Terminate action |
BATT_FS_LOW_ACT | Low battery failsafe action |
BATT_FS_CRT_ACT | Critical battery failsafe action |
Where to do it:Starting Parameters
The code that sends it
Unable to terminate, termination is not configured
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::gcs_terminate() · Open in ArduPilot Copter-4.7.1
Aborting termination due to …
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::gcs_terminate() · Open in ArduPilot Copter-4.7.1
AFS not enabled, can't terminate the vehicle
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::gcs_terminate() · Open in ArduPilot Copter-4.7.1