# 飞行终止配置

飞行终止故障保护动作可由安全检查(例如任何载具类型或任何飞行模式下的 RC 丢失、违反地理围栏等)或者故障检测器触发。

注解

Flight termination may also be triggered from a ground station or companion computer using the MAVLink MAV_CMD_DO_FLIGHTTERMINATION (opens new window) command. This is sent, for example, when you call the MAVSDK Action plugin (opens new window) terminate() or terminate_async() methods.

根据所连接的设备,PWM 故障保护输出可以用来完成以下动作:

Depending on what devices are connected, the PWM failsafe outputs can be used to:

  • 展开降落伞
  • 伸展可伸缩起落架。
  • 将连接了 PWM 的云台移动到安全的方向(或将它回收)以保护摄像机。
  • 触发一个重启装置,比如安全气囊。
  • 触发警报。

PX4 不能感知接了那些安全设备 - 它只是将一组预先定义的 PWM 值用于其输出。 After triggering you should unplug the battery as soon as possible. You will need to reboot/power cycle the vehicle before it can be used again.

提示

失效保护值被应用到终止时的所有输出。 无法配置时基触发的电机或者特定的安全设备。

注解

不是一个独立的 飞行终止系统。 如果断电或者自驾仪完全失控,则不会出发失效保护设备。

注解

This is not an independent Flight Termination System. If power is lost or if the autopilot crashes completely, the failsafe devices will not be triggered.

# 硬件配置

Any safety device(s) (e.g. a parachute) that can be triggered by changing a PWM value can be used, and may be connected to any free PWM port (both MAIN and AUX).

注解

If you're using Pixhawk-series board you will have to separately power the servo rail (i.e. from a 5V BEC, which is often also available from your ESC).

# 软件配置

如果载具翻转(超过一定姿态)或外部自动触发系统(ATS)检测到故障,则故障检测器也可以(可选)通过配置来触发飞行终止,如下所示:

最后,设置任意电机的 PWM_AUX_FAILn and PWM_MAIN_FAILn PWM值。

下图显示了飞行终止的逻辑流程。

最后,设置任意电机的 PWM_AUX_FAILnPWM_MAIN_FAILn PWM 值。

下图显示了飞行终止的逻辑流程。

# 逻辑图解

The diagram below shows the logical flow around flight termination.

Logic diagram