AFS_ parameters¶
21 parameters in the AFS_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
AFS_AMSL_ERR_GPS¶
Error margin for GPS based AMSL limit
This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.
Units |
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User level |
Advanced |
AFS_AMSL_LIMIT¶
AMSL limit
This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.
Units |
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User level |
Advanced |
AFS_DUAL_LOSS¶
Enable dual loss terminate due to failure of both GCS and GPS simultaneously
This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a “dual loss” and cause termination.
User level |
Advanced |
AFS_ENABLE¶
Enable Advanced Failsafe
This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
User level |
Advanced |
AFS_GCS_TIMEOUT¶
GCS timeout
The time (in seconds) of persistent data link loss before GCS failsafe occurs.
Units |
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User level |
Advanced |
AFS_GEOFENCE¶
Enable geofence Advanced Failsafe
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1
User level |
Advanced |
AFS_HB_PIN¶
Heartbeat Pin
This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Range |
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User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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BB Blue GP0 pin 4 |
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AUXOUT1 |
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AUXOUT2 |
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AUXOUT3 |
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AUXOUT4 |
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AUXOUT5 |
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AUXOUT6 |
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BB Blue GP0 pin 3 |
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BB Blue GP0 pin 6 |
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BB Blue GP0 pin 5 |
AFS_MAN_PIN¶
Manual Pin
This sets a digital output pin to set high when in manual mode. See the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
User level |
Advanced |
AFS_MAX_COM_LOSS¶
Maximum number of comms loss events
Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
User level |
Advanced |
AFS_MAX_GPS_LOSS¶
Maximum number of GPS loss events
Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
User level |
Advanced |
AFS_MAX_RANGE¶
Max allowed range
This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.
Units |
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User level |
Advanced |
AFS_OPTIONS¶
AFS options
See description for each bitmask bit description
Bitmask¶
Value |
Meaning |
|---|---|
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Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) |
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Enable AFS for all autonomous modes (not just AUTO) |
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Option to not jump to AFS_WP_COMMS if already in the return path |
AFS_QNH_PRESSURE¶
QNH pressure
This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.
Units |
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User level |
Advanced |
AFS_RC¶
Enable RC Advanced Failsafe
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1
User level |
Advanced |
AFS_RC_FAIL_TIME¶
RC failure time
This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.
Units |
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User level |
Advanced |
AFS_RC_MAN_ONLY¶
Enable RC Termination only in manual control modes
If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.
User level |
Advanced |
AFS_TERMINATE¶
Force Terminate
Can be set in flight to force termination of the heartbeat signal
User level |
Advanced |
AFS_TERM_ACTION¶
Terminate action
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
User level |
Advanced |
AFS_TERM_PIN¶
Terminate Pin
This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Range |
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User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
BB Blue GP0 pin 4 |
|
AUXOUT1 |
|
AUXOUT2 |
|
AUXOUT3 |
|
AUXOUT4 |
|
AUXOUT5 |
|
AUXOUT6 |
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BB Blue GP0 pin 3 |
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BB Blue GP0 pin 6 |
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BB Blue GP0 pin 5 |
AFS_WP_COMMS¶
Comms Waypoint
Waypoint number to navigate to on comms loss
User level |
Advanced |
AFS_WP_GPS_LOSS¶
GPS Loss Waypoint
Waypoint number to navigate to on GPS lock loss
User level |
Advanced |