Crash Recovery

When a crash is detected, the flight controller will attempt to recover the craft to a level attitude, then give the control back.

Конфигурация​

List of parameters for configuring the crash recovery feature:

Parameter	Description	Allowed Values	Default
crash_recovery	Enable or disable the crash recovery feature.	OFF, ON, BEEP, DISARM	OFF
crash_dthreshold	Sensitivity threshold based on D-term values	10 to 2000	50
crash_gthreshold	Sensitivity threshold based on gyro readings	100 to 2000	400
crash_setpoint_threshold	Sensitivity threshold based on stick position	50 to 2000	350
crash_recovery_angle	Defines the angle to which the craft will try to recover.	5 to 30	10
crash_recovery_rate	How aggressively the craft attempts to recover. Higher values mean faster recovery but can lead to oscillations if set too high.	50 to 255	100
crash_limit_yaw	Limits the yaw rate during recovery to prevent yaw spins. If during crash recovery the yaw rate exceeds this value, crash recovery will be cancelled	0 to 1000	200
crash_time	Maximum duration in milliseconds for which recovery attempts will be made.	100 to 5000	500
crash_delay	Time in milliseconds to wait before starting recovery.	0 to 500	0

Crash Recovery Modes​

• OFF: Do not use crash recovery
• ON: Upon detecting a crash, level the craft and give back control
• BEEP: Upon detecting a crash, beep the external beeper, do not affect the craft's flying. Useful for testing
• DISARM: Upon detecting a crash, disarm the craft.