THR_FAILSAFE_ACTION without effect, and some more...

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AC 2.3 FROM GIT. APM2  MP 1.1.34
What steps will reproduce the problem?
1. Entering either 1 or 2 in the THR_FAILSAFE_ACTION parameter
2. Flying a waypoint mission in AUTO
3. Shutting of my TX (RX will output 940us)

What is the expected output? 
Well, depends if one reads AC wiki or Mavlink guide;
AC wiki - " If you are in Auto and prefer to continue your mission, the 
parameter THR_FS_ACTION should == 1"

Mavlink param table: "...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."

What do you see instead? No matter if entering 1 or 2 in this parameter, when 
failsafe is triggered during AUTO, mission is aborted and copter goes home.

When hand holding copter well away from HOME, Stabilize mode at hover throttle, 
and shutting off transmitter, motors stop immediately. That would be free fall, 
happening in flight. (BUG!)

When doing the same while hand holding in LOITER, motors do not shut down, but 
there is a significant decrease in thrust, feels like it would sink rapidly. 
Seems unreliable. Would expect maintained hover thrust.
Same when shutting off TX while in RTL. 

What version of the product are you using? As above.
On what operating system? WIN7/64

Please provide any additional information below.
Apart from software fix, I suggest a AC failsafe wiki update. It must include 
the necessity to set THR_FAILSAFE to 1 in order to at all activate the failsafe 
feature. And THR_FAILSAFE_ACTION should be correlated to the mavlink param 
table. Finally published "inflight" procedure (not simulator) to safely test 
the failsafe would be great.

Regards / Tomas

Original issue reported on code.google.com by tomas.so...@gmail.com on 9 Feb 2012 at 10:14

Attachments:

• thr_failsafe_action.PNG

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Oh, and here is a forum thread on the subject:
http://diydrones.com/forum/topics/setting-up-and-testing-failsafe?id=705844%3ATo
pic%3A759885&page=3#comments

Bill has some good ideas about failsafe wiki wording.

Original comment by tomas.so...@gmail.com on 9 Feb 2012 at 10:17

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And a question / lead for wiki clarification.
The mavlink param guide states that 0 is default for the THR_FAILSAFE_ACTION.
What FS behaviour should be expected when the value is 0??

Original comment by tomas.so...@gmail.com on 9 Feb 2012 at 10:22

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Ok, should be THR_FS_ACTION. My typo.

Original comment by tomas.so...@gmail.com on 9 Feb 2012 at 10:23

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And this issue is also addressed in issue 310
http://code.google.com/p/arducopter/issues/detail?id=310

But in this new issue I provide additional bug info and wiki recommendations.

Original comment by tomas.so...@gmail.com on 9 Feb 2012 at 10:50

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Found a break missing in a switch statement. Should be all working in next 
revision. Made the update to the Wiki.
Jason

Original comment by jasonshort on 10 Feb 2012 at 6:09

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Should be all set. Thanks.

Original comment by jasonshort on 10 Feb 2012 at 6:33

• Changed state: Fixed