Failsafe does not cause RTL from Loiter, Auto modes

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At the AC2_Failsafe wiki page, there are 2 options for failsafe while in auto 
mode, however both give the same solution THR_FS_ACTION == 1. I believe one of 
them may be wrong.

Original issue reported on code.google.com by ruicravo...@gmail.com on 9 Jan 2012 at 1:11

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I followed the wiki for failsafe setup.
Obviously the wiki is severely incomplete, or there is a software bug.
Like some members indicate on forums, motors becomes shut off when the TX is.

If there is anything we need to do with the THR_FAILSAFE and/or TRIM_THROTTLE 
parameter, then of course this must be included in the wiki. Together with any 
other info essential for successful failsafe function setup.
Failsafe set up is one really important feature, and there should be no doubt 
whatsoever how to make it work.
Tomas

Original comment by tomas.so...@gmail.com on 6 Feb 2012 at 5:08

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For my previous comment, I should add that I currently use:

AC 2.3 from GIT, as per today
APM2
MP 1.1.33
Stock 3DR quad

In the attched status pics you can see CH3 (throttle) input and current flight 
mode.
Obviously the thr <975 does not trigger failsafe response.

Original comment by tomas.so...@gmail.com on 7 Feb 2012 at 3:00

Attachments:

• NormStatus.PNG
• TXFS_Status.PNG

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Furthermore, the AC failsafe wiki is contradictory in relation to the MAVParam 
wiki (under ArduPilot mega wiki).
http://code.google.com/p/ardupilot-mega/wiki/MAVParam

"... If FAILSAFE_ACTION is 1 when failsafe is entered in AUTO or LOITER modes 
the aircraft will head for home in RTL mode. If the throttle channel moves back 
up it will return to AUTO or LOITER mode. The default behavior is to ignore 
throttle failsafe in AUTO and LOITER modes"

Original comment by tomas.so...@gmail.com on 7 Feb 2012 at 5:43

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I also come to the conclusion that it does not matter what value is entered 
into this parameter. In any case, when in any auto mode (AUTO, LOITER, HOME) it 
continues that, without making a RTL.
BUG?

Original comment by tomas.so...@gmail.com on 7 Feb 2012 at 7:29

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Original comment by rmackay...@gmail.com on 8 Feb 2012 at 12:05

• Changed title: Failsafe does not cause RTL from Loiter, Auto modes

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2.3.1 has the fixes

Original comment by jasonshort on 10 Feb 2012 at 6:35

• Changed state: Fixed