The Advanced Failsafe changed state
What ArduPilot says:
- AFS State: GPS_LOSS
- AFS State: AFS_AUTO, GPS now OK
- AFS State: AFS_AUTO
- AFS State: DATA_LINK_LOSS
- AFS State: AFS_AUTO, GCS now OK
With AFS_ENABLE 1 the Advanced Failsafe reports the state it is in. “AFS_AUTO” is the normal one; it begins when the plane first enters AUTO. “DATA_LINK_LOSS”: no heartbeat from the ground station for AFS_GCS_TIMEOUT (10 s by default); the mission jumps to the waypoint in AFS_WP_COMMS if one is set. “GPS_LOSS”: no GPS fix for 3 s; the mission jumps to AFS_WP_GPS_LOSS. “GCS now OK” and “GPS now OK”: the loss is over and the mission returns to where it was. Losing both at once ends the flight when AFS_DUAL_LOSS is 1.
Parameters to look at
| Parameter | What it is |
|---|---|
AFS_ENABLE | Enable Advanced Failsafe |
AFS_GCS_TIMEOUT | GCS timeout |
AFS_WP_COMMS | Comms Waypoint |
AFS_WP_GPS_LOSS | GPS Loss Waypoint |
AFS_DUAL_LOSS | Enable dual loss terminate due to failure of both GCS and GPS simultaneously |
The code that sends it
AFS State: GPS_LOSS
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::check() · Open in ArduPilot Copter-4.7.1
AFS State: AFS_AUTO, GPS now OK
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::check() · Open in ArduPilot Copter-4.7.1
AFS State: AFS_AUTO
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::check() · Open in ArduPilot Copter-4.7.1
AFS State: DATA_LINK_LOSS
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_AdvancedFailsafe::check() · Open in ArduPilot Copter-4.7.1
And 1 more messages, sent from the same places.