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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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Copter: batt failsafe triggers to ensure it has capacity to reach home. #2390

Open geofrancis opened 9 years ago

geofrancis commented 9 years ago

if you could work out roughly how many mah/km you multi-rotor does then the further you go from home the earlier it will engage rtl on battery fail-safe to avoid crashing on the way back because the battery gets too low, while still being able to use the whole pack while flying close. you could also get a rough wind direction and strength by how much its having to lean to correct in an loiter.

or having 2 failsafe voltages? one is for RTL the second is for a fast land straight down to get it on the ground before it crashes.

rmackay9 commented 9 years ago

Related to this other issue: https://github.com/diydrones/ardupilot/issues/1759

rmackay9 commented 9 years ago

I'm amazed we didn't have this on the to-do list already. It's certainly been requested but apparently not captured before. The solo branch has this feature so we should be able to pull in for AC3.4.

ErikGroeneveld commented 9 years ago

+1

Op dinsdag 9 juni 2015 heeft Randy Mackay notifications@github.com het volgende geschreven:

I'm amazed we didn't have this on the to-do list already. It's certainly been requested but apparently not captured before. The solo branch has this feature so we should be able to pull in for AC3.4.

— Reply to this email directly or view it on GitHub https://github.com/diydrones/ardupilot/issues/2390#issuecomment-110198807 .

rmackay9 commented 8 years ago

Bumped to Copter-3.5. We're just so late on AC-3.4 as it is.

geofrancis commented 7 years ago

Has there been any progress on this?

Either the 2 stage failsafe or battery prediction?

WickedShell commented 6 years ago

2 stage voltage/current is presented in #7213, it doesn't account for the distance from home, but does allow you to transition to land at a critical level. If that's sufficient then then this can be closed now since it's a duplicate of #1759

rmackay9 commented 6 years ago

I think this needs to stay open because the request is to failsafe to RTL at the optimal moment so that the vehicle barely makes it home.

WickedShell commented 6 years ago

Yeah, that was my suspicion as well. That's not one I will be tackling in the super near future (or at least not yet in a manner that will help copter), but I think the issue itself is quite valid.

IamPete1 commented 2 years ago

I have implemented such a failsafe in scripting, its quite hard to get it "generic" in that case we used a lookup table from airspeed to power draw.