Failsafe Behaviour

What happens when the link drops — centered wings, centered rudder, graceful degradation.

Trigger conditions

Failsafe engages when the CRSF link reports a lost connection or the channel data is stale beyond the configured timeout. The radio's own failsafe is not the source of truth — PteronautOS re-imposes its own centred failsafe so the behaviour is identical regardless of radio brand or bind mode.

Centered output

On trigger, every servo returns to 1500 µs and the waveform output is suppressed. Wings centre, the crest rudder centres. The voiceAileron/Elevator/Throttle/Rudder channel readouts are reset so the WebUI state poll shows the neutral truth.

Graceful degradation

The design rule is grace in degradation: a failing MPU6050 must not take the aircraft down. Zephyrus disables itself on gyro failure and the Ornithopter mixer keeps flying on pure stick input — the failsafe path and the gyro path are independent, so one fault never cascades into the other.

Recovery

Recovery is automatic: when valid CRSF frames resume, the mixer re-engages on the next tick and the servos follow the live channels again. There is no manual reset and no latching — the transition is a single soft ramp back to commanded positions.