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docs(safety): clarify GNSS failsafe wording and rename COM_GNSS_LSS_ACT

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gguidone
2026-04-23 14:03:41 +02:00
committed by Matthias Grob
parent 5aca14af2d
commit 80b927f016
2 changed files with 6 additions and 6 deletions
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docs/en/config/safety.md
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@@ -233,22 +233,22 @@ Note that if there is no horizontal aiding source anymore, the position estimate
<Badge type="tip" text="PX4 v1.18" />
The GNSS check failsafe has two triggers, both configured by [COM_GPS_LOSS_ACT](#COM_GPS_LOSS_ACT):
The GNSS check failsafe has two triggers, both configured by [COM_GNSS_LSS_ACT](#COM_GNSS_LSS_ACT):
- **Count drop**: the number of receivers with a 3D fix drops below [SYS_HAS_NUM_GNSS](#SYS_HAS_NUM_GNSS). No action when `SYS_HAS_NUM_GNSS=0`, only a warning.
- **Position divergence**: two receivers report positions that disagree by more than their expected separation on the vehicle (configured via [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY), [SENS_GPS1_OFFX](../advanced_config/parameter_reference.md#SENS_GPS1_OFFX), [SENS_GPS1_OFFY](../advanced_config/parameter_reference.md#SENS_GPS1_OFFY)) plus their reported accuracy margin.
This always produces a warning regardless of `SYS_HAS_NUM_GNSS`;
the `COM_GPS_LOSS_ACT` failsafe action is only triggered when `SYS_HAS_NUM_GNSS=2`.
The configured `COM_GNSS_LSS_ACT` failsafe action is only triggered when `SYS_HAS_NUM_GNSS=2`.
Note that a warning is always emitted by this trigger regardless of `SYS_HAS_NUM_GNSS` or `COM_GNSS_LSS_ACT`.
Make sure to configure the lever arm offsets of both receivers for accurate detection.
When `COM_GPS_LOSS_ACT` is set to `Warning`, both triggers produce a warning only and never block arming.
When `COM_GNSS_LSS_ACT` is set to `Warning`, both triggers produce a warning only and never block arming.
When set to `Return`, `Land`, or `Terminate`, both triggers block arming and fire the configured in-flight failsafe action (subject to the `SYS_HAS_NUM_GNSS` condition above).
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="SYS_HAS_NUM_GNSS"></a>[SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of GNSS receivers required for arming and flight. `0`: No minimum (default), `1`: Require one, `2`: Require two. |
| <a id="COM_GPS_LOSS_ACT"></a>[COM_GPS_LOSS_ACT](../advanced_config/parameter_reference.md#COM_GPS_LOSS_ACT) | Failsafe action when a GNSS failure is detected. `0`: Warning only (default), `1`: Return, `2`: Land, `3`: Terminate. Values above Warning also block arming. |
| <a id="COM_GNSS_LSS_ACT"></a>[COM_GNSS_LSS_ACT](../advanced_config/parameter_reference.md#COM_GNSS_LSS_ACT) | Failsafe action when a GNSS failure is detected. `0`: Warning only (default), `1`: Return, `2`: Land, `3`: Terminate. Values above Warning also block arming. |
## Offboard Loss Failsafe
docs/en/releases/main.md
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@@ -44,7 +44,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029))
- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
- [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)).
- [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new configurable failsafe triggered by two conditions: active receiver count drops below [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) (warning only when `0`), or two receivers report inconsistent positions (warning always, failsafe action only when `SYS_HAS_NUM_GNSS=2`). Action configured via [COM_GPS_LOSS_ACT](../advanced_config/parameter_reference.md#COM_GPS_LOSS_ACT) (Warning, Return, Land, or Terminate). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
- [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new configurable failsafe triggered by two conditions: active receiver count drops below [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) (warning only when `0`), or two receivers report inconsistent positions (warning always, failsafe action only when `SYS_HAS_NUM_GNSS=2`). Action configured via [COM_GNSS_LSS_ACT](../advanced_config/parameter_reference.md#COM_GNSS_LSS_ACT) (Warning, Return, Land, or Terminate). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
### Control