Copter: Failsafe refactor and FS_OPTIONS parameter documentation #2102
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Matt, I have submitted a PR to your branch with my additions and edits and corrections or you could cherry-pick my fsoptions branch...I probably have guessed at one or two of the fs_option meanings incorrectly...but hopefully this will also serve as a basis for your updates to the other failsafe pages....thanks let me know if I can help |
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@Hwurzburg I did some more work on this today. I've updated the radio, gcs, and battery pages. You were pretty close on the bitmask, so I updated that as well. I don't have this PC setup to render the pages right now, so I'm only editing the code and preying the formatting is right. I also haven't gone through spelling with a fine tooth comb yet either. Please give this a quick run through if you have a moment as well. |
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no problem...will build it and review it tomorrow...thank! |
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I just ran the vagrant builder. Wow, much easier than the last time I tried to do this a few years ago. So I'm fixing up a few more things now too. |
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| - Set the Failsafe Options to one of the three options: | ||
| - **Disabled** (Value 0) will disable the radio failsafe entirely. | ||
| - **Enabled Always RTL** (Value 1) will switch the copter to RTL Mode. If the GPS position is not usable, the copter will change to Land Mode instead. | ||
| - **Enabled Continue with Mission in Auto Mode (Deprecated in 4.0+)** (Value 2) will ignore the failsafe in an Auto Mode mission. Otherwise, it will behave the same as *Enabled Always RTL*. This option no longer exists in ArduCopter 4.0. Instead, see the :ref:`FS_OPTIONS<FS_OPTIONS>` parameter for this function. Setting this value in Copter4.0 and later version will automatically be converted and set to (Value 1) and the :ref:`FS_OPTIONS<FS_OPTIONS>` will be modified to include bit () in the bitmask for "". |
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one addition needed...."will be modified to include bit (0) in the bitmask for "Continue if in AUTO Mode on Radio Failsafe".
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Good catch. I see a few spelling and grammar errorz in there too. I'll do that this evening.
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Fixed up squashed and pushed! |
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builds fine...LGTM |
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Could someone kindly merge this? The PR this covers in Copter 4 and master is in so this needs to go in. |
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we a have review call tomorrow...it'll merge then unless someone has an issue with it...or Randy does it tonight, since he's the reviewer... |
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Merged, thanks! |
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Awesome!!! |
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Thx! |
Starting to update the copter wiki failsafe pages to follow ArduPilot/ardupilot#7432