QG4/docs/zh/qgc-user-guide/setup_view/safety_ardupilot.md

Safety Setup (ArduPilot)

The Safety Setup page allows you to configure (vehicle specific) failsafe settings.

:::tip The setup page covers the most important safety options; other failsafe settings can be set via the parameters described in the failsafe documentation for each vehicle type. :::

:::tip QGroundControl does not support polygon fences or rally points on ArduPilot. :::

Copter

The Copter safety page is shown below.

:::info For additional safety settings and information see: Failsafe. :::

Battery Failsafe {#battery_failsafe_copter}

This panel sets the Battery Failsafe parameters. You can set low and critical thresholds for voltage and/or remaining capacity and define the action if the failsafe value is breached. The thresholds can be disabled by setting them to zero.

:::tip If there is a second battery (enabled in the Power Setup) a second panel will be displayed with the same settings. :::

The configuration options are:

• Low action (BATT_FS_LOW_ACT) - Select one of: None, Land, RTL, SmartRTL, SmartRTL or Land, Terminate.
• Critical action (BATT_FS_CRT_ACT) - Select one of: None, Land, RTL, SmartRTL, SmartRTL or Land, Terminate.
• Low voltage threshold (BATT_LOW_VOLT) - Battery voltage that triggers the low action.
• Critical voltage threshold (BATT_CRT_VOLT)- Battery voltage that triggers the critical action.
• Low mAh threshold (BATT_LOW_MAH) - Battery capacity that triggers the low action.
• Critical mAh threshold (BATT_CRT_MAH) - Battery capacity that triggers the critical action.

General Failsafe Triggers {#failsafe_triggers_copter}

This panel enables the GCS Failsafe and enables/configures the throttle failsafe.

The configuration options are:

• Ground Station failsafe - Disabled, Enabled always RTL, Enabled Continue with Mission in Auto Mode, Enabled Always SmartRTL or RTL, Enabled Always SmartRTL or Land.
• Throttle failsafe - Disabled, Always RTL, Continue with Mission in Auto Mode, Always land.
• PWM Threshold (FS_THR_VALUE) - PWM value below which throttle failsafe triggers.

Geofence {#geofence_copter}

This panel sets the parameters for the cylindrical Simple Geofence. You can set whether the fence radius or height are enabled, the maximum values for causing a breach, and the action in the event of a breach.

The configuration options are:

• Circle GeoFence enabled (FENCE_TYPE, FENCE_ENABLE) - Enable the circular geofence.
• Altitude GeoFence enabled (FENCE_TYPE, FENCE_ENABLE) - Enable altitude geofence.
• Fence action (FENCE_ACTION) One of:
  • Report only - Report fence breach.
  • RTL or Land - RTL or land on fence breach.
• Max radius (FENCE_RADIUS) - Circular fence radius that when broken causes RTL.
• Max altitude (FENCE_ALT_MAX)- Fence maximum altitude to trigger altitude geofence.

Return to Launch {#rtl_copter}

This panel sets the RTL Mode behaviour.

The configuration options are:

• Select RTL return altitude (RTL_ALT):
  • Return at current altitude - Return at current altitude.
  • Return at specified altitude - Ascend to specified altitude to return if below current altitude.
• Loiter above home for (RTL_LOIT_TIME) - Check to set a loiter time before landing.
• One of
  • Land with descent speed (LAND_SPEED) - Select final descent speed.
  • Final loiter altitude (RTL_ALT_FINAL) - Select and set final altitude for landing after RTL or mission (set to 0 to land).

Arming Checks {#arming_checks_copter}

This panel sets which Pre-ARM Safety Checks are enabled.

The configuration options are:

• Arming Checks to perform (ARMING_CHECK) - Check all appropriate: Barometer, Compass, GPS lock, INS, Parameters, RC Channels, Board voltage, Battery Level, Airspeed, Logging Available, Hardware safety switch, GPS Configuration, System.

Plane

The Plane safety page is shown below.

:::info For additional safety settings and information see: Plane Failsafe Function and Advanced Failsafe Configuration. :::

Battery Failsafe {#battery_failsafe_plane}

The plane battery failsafe is the same as for copter except there are different options for the Low and Critical actions: None, RTL, Land, Terminate.

For more information see: battery failsafe (copter).

Failsafe Triggers {#failsafe_triggers_plane}

This panel enables the GCS Failsafe and enables/configures the throttle failsafe.

The configuration options are:

• Throttle PWM threshold (THR_FS_VALUE) - PWM value below which throttle failsafe triggers.
• GCS failsafe (FS_GCS_ENABL) - Check to enable GCS failsafe.

Return to Launch {#rtl_plane}

This panel sets the RTL Mode behaviour.

The configuration options are:

• Select RTL return altitude (RTL_ALT):
  • Return at current altitude - Return at current altitude.
  • Return at specified altitude - Ascend to specified altitude to return if below current altitude.

Arming Checks {#arming_checks_plane}

Arming Checks are the same as for copter.

Rover

The Rover safety page is shown below.

:::info For additional safety settings and information see: Failsafes. :::

Battery Failsafe {#battery_failsafe_rover}

The rover battery failsafe is the same as for copter.

Failsafe Triggers {#failsafe_triggers_rover}

This panel enables the rover Failsafes.

The configuration options are:

• Ground Station failsafe (FS_GCS_ENABL) - Check to enable GCS failsafe.
• Throttle failsafe (FS_THR_ENABLE) - Enable/disable throttle failsafe (value is PWM threshold below).
• PWM threshold (FS_THR_VALUE) - PWM value below which throttle failsafe triggers.
• Failsafe Crash Check (FS_CRASH_CHECK) - What to do in the event of a crash: Disabled, Hold, HoldAndDisarm

Arming Checks {#arming_checks_rover}

Arming Checks are the same as for copter.

Sub

The Sub safety page is shown below.

:::info For additional safety settings and information see: Failsafes. :::

Failsafe Actions {#failsafe_actions_sub}

The configuration options are:

• GCS Heartbeat - Select one of: Disabled, Warn only, Disarm, Enter depth hold mode, Enter surface mode.
• Leak - Select one of: Disabled, Warn only, Enter surface mode.
  • Detector Pin - Select one of: Disabled, Pixhawk Aux (1-6), Pixhawk 3.3ADC(1-2), Pixhawk 6.6ADC.
  • Logic when Dry - Select one of: Low, High.
• Battery - ?.
• EKF - Select one of: Disabled, Warn only, Disarm.
• Pilot Input - Select one of: Disabled, Warn only, Disarm.
• Internal Temperature - Select one of: Disabled, Warn only.
• Internal Pressure - Select one of: Disabled, Warn only.

Arming Checks {#arming_checks_sub}

Arming Checks are the same as for copter.