Safety Configuration (Failsafes)
- Failsafe Actions {#failsafe_actions}
- QGroundControl Safety Setup {#qgc_safety_setup}
  - Low Battery Failsafe
  - RC Loss Failsafe
  - Data Link Loss Failsafe
  - Geofence Failsafe
  - Return Home Settings {#return_settings}
  - Land Mode Settings
- Other Failsafe Settings {#failsafe_other}
  - Position (GPS) Loss Failsafe
  - Offboard Loss Failsafe
  - Mission Failsafe
  - Traffic Avoidance Failsafe
  - Adaptive QuadChute Failsafe
- Failure Detector {#failure_detector}
- Safety Switches {#safety_switch}
  - Kill Switch {#kill_switch}
  - Arm/Disarm Switch {#arming_switch}
  - Return Switch {#return_switch}
- Further Information

Safety Configuration (Failsafes)

PX4 has a number of safety features to protect and recover your vehicle if something goes wrong:

Failsafes allow you to specify areas and conditions under which you can safely fly, and the action that will be performed if a failsafe is triggered (for example, landing, holding position, or returning to a specified point). The most important failsafe settings are configured in the QGroundControl Safety Setup page. Others must be configured via parameters.
Safety switches on the remote control can be used to immediately stop motors or return the vehicle in the event of a problem.

Failsafe Actions {#failsafe_actions}

Each failsafe defines its own set of actions. Some of the more common failsafe actions are:

Action	描述
None/Disabled	No action (the failsafe will be ignored).
报警	A warning message will be sent to QGroundControl.
Hold mode	The vehicle will enter Hold mode. For multicopters this means the vehicle will hover, while for fixed/wing the vehicle will circle.
返航模式	The vehicle will enter Return mode. Return behaviour can be set in the Return Home Settings (below).
降落模式	The vehicle will enter Land mode, and lands immediately.
RC Auto Recovery (CASA Outback Challenge rules)	TBD
Flight termination	Turns off all controllers and sets all PWM outputs to their failsafe values (e.g. PWM_MAIN_FAILn, PWM_AUX_FAILn). The failsafe outputs can be used to deploy a parachute, landing gear or perform another operation. For a fixed-wing vehicle this might allow you to glide the vehicle to safety.
Lockdown	Kills the motors (sets them to disarmed). This is the same as using the kill switch.

Note It is possible to recover from a failsafe action (if the cause is fixed) by switching modes. For example, in the case where RC Loss failsafe causes the vehicle to enter Return mode, if RC is recovered you can change to Position mode and continue flying.

Note If a failsafe occurs while the vehicle is responding to another failsafe (e.g. Low battery while in Return mode due to RC Loss), the specified failsafe action for the second trigger is ignored. Instead the action is determined by separate system level and vehicle specific code. This might result in the vehicle being changed to a manual mode so the user can directly manage recovery.

QGroundControl Safety Setup {#qgc_safety_setup}

The QGroundControl Safety Setup page is accessed by clicking the QGroundControl Gear icon (Vehicle Setup - top toolbar) and then Safety in the sidebar). This includes the most important failsafe settings (battery, RC loss etc.) and the settings for the return actions Return and Land.

Safety Setup (QGC)

Low Battery Failsafe

The low battery failsafe is triggered when the battery capacity drops below one (or more warning) level values.

Safety - Battery (QGC)

The most common configuration is to set the values and action as above (with Warn > Failsafe > Emergency). With this configuration the failsafe will trigger warning, then return, and finally landing if capacity drops below the respective levels.

It is also possible to set the Failsafe Action to warn, return, or land when the Battery Failsafe Level failsafe level is reached.

The settings and underlying parameters are shown below.

Setting	参数	参数描述
Failsafe Action	COM_LOW_BAT_ACT	Warn, Return, or Land based when capacity drops below Battery Failsafe Level, OR Warn, then return, then land based on each of the level settings below.
Battery Warn Level	BAT_LOW_THR	Percentage capacity for warnings (or other actions).
Battery Failsafe Level	BAT_CRIT_THR	Percentage capacity for Return action (or other actions if a single action selected).
Battery Emergency Level	BAT_EMERGEN_THR	Percentage capacity for triggering Land (immediately) action.

RC Loss Failsafe

The RC Loss failsafe is triggered if the RC transmitter link is lost.

Safety - RC Loss (QGC)

The settings and underlying parameters are shown below.

Setting	参数	参数描述
RC Loss Timeout	COM_RC_LOSS_T	Amount of time after losing the RC connection before the failsafe will trigger.
Failsafe Action	NAV_RCL_ACT	Disabled, Loiter, Return, Land, RC Auto Recovery, Terminate, Lockdown.
RC Loss Loiter Time	NAV_RCL_LT	If the Failsafe Action (`NAV_RCL_ACT`) is set to CASA Outback Challenge rules this sets the loiter time after RC loss.

Data Link Loss Failsafe

The Data Link Loss failsafe is triggered if a telemetry link (connection to ground station) is lost when flying a mission.

Safety - Data Link Loss (QGC)

The settings and underlying parameters are shown below.

Setting	参数	参数描述
Data Link Loss Timeout	COM_DL_LOSS_T	Amount of time after losing the data connection before the failsafe will trigger.
Failsafe Action	NAV_DLL_ACT	Disabled, Hold mode, Return mode, Land mode, Data Link Auto Recovery (CASA Outback Challenge rules), Terminate, Lockdown. Selecting the `Data Link Auto Recovery (CASA Outback Challenge rules)` action additionally enables the Data Link Loss parameters.

Geofence Failsafe

The Geofence is defined as a “virtual” cylinder around the home position. If the vehicle moves outside the radius or above the altitude the specified Failsafe Action will trigger.

Safety - Geofence (QGC)

The settings and underlying geofence parameters are shown below.

Setting	参数	参数描述
Action on breach	GF_ACTION	None, Warning, Hold mode, Return mode, Terminate.
Max Radius	GF_MAX_HOR_DIST	Horizontal radius of geofence cylinder. Geofence disabled if 0.
Max Altitude	GF_MAX_VER_DIST	Height of geofence cylinder. Geofence disabled if 0.

Note Setting GF_ACTION to terminate will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using CBRK_FLIGHTTERM, which needs to be reset to 0 to really shut down the system.

The following settings also apply, but are not displayed in the QGC UI.

Setting	参数	参数描述
Geofence altitude mode	GF_ALTMODE	Altitude reference used: 0 = WGS84, 1 = AMSL.
Geofence counter limit	GF_COUNT	Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered.
Geofence source	GF_SOURCE	Set whether position source is estimated global position or direct from the GPS device.
Circuit breaker for flight termination	CBRK_FLIGHTTERM	Enables/Disables flight termination action (disabled by default).

Return Home Settings {#return_settings}

Return is a common failsafe action that engages Return mode to return the vehicle to the home position. This section shows how to set the land/loiter behaviour after returning.

Safety - Return Home Settings (QGC)

The settings and underlying parameters are shown below:

Setting	参数	参数描述
Climb to altitude	RTL_RETURN_ALT	Vehicle ascend to this minimum height (if below it) for the return flight.
Return behaviour		Choice list of Return then: Land, Loiter and do not land, or Loiter and land after a specified time.
Loiter Altitude	RTL_DESCEND_ALT	If return with loiter is selected you can also specify the altitude at which the vehicle hold.
Loiter Time	RTL_LAND_DELAY	If return with loiter then land is selected you can also specify how long the vehicle will hold.

Note The return behavour is defined by RTL_LAND_DELAY. If negative the vehicle will land immediately. Additional information can be found in Return mode.

Land Mode Settings

Land at the current position is a common failsafe action that engages Land Mode. This section shows how to control when and if the vehicle automatically disarms after landing. For Multicopters (only) you can additionally set the descent rate.

Safety - Land Mode Settings (QGC)

The settings and underlying parameters are shown below:

Setting	参数	参数描述
Disarm After	COM_DISARM_LAND	Select checkbox to specify that the vehicle will disarm after landing, and enter delay after landing before disarming. The value must be non-zero but can be a fraction of a second.
Landing Descent Rate	MPC_LAND_SPEED	Rate of descent (MC only).

Other Failsafe Settings {#failsafe_other}

This section contains information about failsafe settings that cannot be configured through the QGroundControl Safety Setup page.

Position (GPS) Loss Failsafe

The Position Loss Failsafe is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.

The failure action is controlled by COM_POSCTL_NAVL, based on whether RC control is assumed to be available (and altitude information):

0: Remote control available. Switch to Altitude mode if a height estimate is available, otherwise Stabilized mode.
1: Remote control not available. Switch to Land mode if a height estimate is available, otherwise enter flight termination.

Fixed Wing vehicles additionally have a parameter (NAV_GPSF_LT) for defining how long they will loiter (circle) after losing position before attempting to land.

The relevant parameters for all vehicles shown below (also see GPS Failure navigation parameters):

参数	参数描述
COM_POS_FS_DELAY	Delay after loss of position before the failsafe is triggered.
COM_POSCTL_NAVL	Position control navigation loss response during mission. Values: 0 - assume use of RC, 1 - Assume no RC.
CBRK_GPSFAIL	Circuit breaker that can be used to disable GPS failure detection.
CBRK_VELPOSERR	Circuit breaker for position error check (disables error checks in all modes).

Parameters that only affect Fixed Wing vehicles:

参数	参数描述
NAV_GPSF_LT	Loiter time (waiting for GPS recovery before it goes into flight termination). Set to 0 to disable.
NAV_GPSF_P	Fixed pitch angle while circling.
NAV_GPSF_R	Fixed roll/bank angle while circling.
NAV_GPSF_TR	Thrust while circling.

Offboard Loss Failsafe

The Offboard Loss Failsafe is triggered if the offboard link is lost while under Offboard control. Different failsafe behaviour can be specified based on whether or not there is also an RC connection available.