Learn how to troubleshoot and resolve the `Failsafe Mode` activation issue in PX4 Multirotors when using AirSim for your drone projects.
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Understanding the Failsafe Mode in PX4 Multirotors
When working with PX4-powered drones, encountering a Failsafe mode activation during takeoff can be both unexpected and frustrating. This mode is designed to prevent the drone from operating in unsafe conditions, but sometimes it can be triggered erroneously due to connection issues or other factors like the implementation of camera control scripts. In this guide, we will explore the potential causes of the Failsafe activation when taking off with a PX4 multirotor and provide a step-by-step guide to resolve this issue effectively.
The Problem: Failsafe Activation on Takeoff
While working with AirSim and PX4, you might find that adding logic for frame processing from the drone’s camera can lead to unexpected behavior—primarily the drone freezing during takeoff and triggering a Failsafe message. This issue has notable implications when experimenting with new computer vision (CV) features that could potentially disrupt the connection between your drone and the simulation environment.
Example of the Scenario
For instance, you might have a successful AirSim setup where your drone receives commands perfectly using scripts from AirSim’s repository. However, as soon as you introduce modifications for capturing images or processing frames, the drone unexpectedly enters Failsafe mode post-takeoff.
Diagnosing the Failsafe Activation
Primary Cause: Connection Loss
Upon investigation, the root cause of the Failsafe activation is usually attributed to a connection loss between the PX4 multirotor and the controlling software. In the given scenario, the default timeout for the connection loss is set at 1 second. This means that if the drone does not receive a command within this timeframe, it will trigger Failsafe, stopping the drone’s takeoff and other operations.
The Role of Sleep Commands
If your Python script includes sleep commands (like time pauses for image processing), it could inadvertently cause the connection to drop, leading to the inability of the drone to receive new commands promptly. This, in turn, results in the triggering of the Failsafe mode.
Solution: Modifying Parameters
To resolve the issue, you can adjust the settings in your PX4 configuration to allow for a larger timeframe before invoking the Failsafe mode. Here’s how to do it:
Step 1: Adjust Failsafe Parameters
Access the Parameter Settings: Open QGroundControl or the PX4 parameter management system.
Modify COM_OF_LOSS_T: This parameter determines the timeout duration for connection loss. By default, it’s set to 1 second. Change it to a higher value, typically between 10 to 20 seconds. This modification gives your drone more time to regain connection if interrupted.
Save the Changes: Ensure to save and reboot the PX4 firmware for the changes to take effect.
Step 2: Test Your Configuration
Run Your Path Script Again: Execute your modified path script while monitoring the drone’s performance.
Observe for Failsafe Activations: With increased timeout settings, the drone should now be capable of adequately processing your image calls without triggering Failsafe.
Conclusion
By understanding the Failsafe mechanism within the PX4 multirotor and making the necessary adjustments to your connection timeout settings, you can effectively mitigate issues related to unexpected Failsafe activations during takeoff. This solution allows for a smoother and uninterrupted drone operation, enabling you to focus on leveraging the powerful capabilities of computer vision in your AirSim environment.
With these steps implemented, you can confidently continue your journey in the exciting realm of drone technology and AirSim simulations without the fear of erroneous disconnects. Happy flying
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