From b4f5d556c144d8b8d07d227fd2eaac7bc49ee8ed Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 23 Apr 2026 12:20:05 +1000 Subject: [PATCH] docs(update): Subedit to taste --- docs/en/config/safety.md | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/docs/en/config/safety.md b/docs/en/config/safety.md index e6de4f1c303..de5e235a946 100644 --- a/docs/en/config/safety.md +++ b/docs/en/config/safety.md @@ -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 | +| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [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. | -| [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. | +| [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