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Hamish Willee
2026-04-23 12:20:05 +10:00
committed by Matthias Grob
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@@ -236,14 +236,19 @@ Note that if there is no horizontal aiding source anymore, the position estimate
The GNSS check failsafe has two triggers, both configured by [COM_GPS_LOSS_ACT](#COM_GPS_LOSS_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. 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`. Make sure to configure the lever arm offsets of both receivers for accurate detection.
- **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.
When `COM_GPS_LOSS_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).
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`.
Make sure to configure the lever arm offsets of both receivers for accurate detection.
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
When `COM_GPS_LOSS_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_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. |
## Offboard Loss Failsafe