Safety & Failsafe
Use Firmware v1.0.0 safety semantics as observable bench-test rules, not only as background theory.
# ARM-ready means motors off
ARM is explicit. Firmware accepts ARM only when throttle is at or below 1050 and the required link, failsafe, battery and IMU checks are healthy. A successful ARM enters an ARMED-ready state; at throttle ≤ 1050 all normal motor PWM remains zero.
With propellers removed, ARM at minimum throttle and confirm telemetry reports ARMED while the motors remain off. If a motor spins in this state, stop and diagnose before flight.
# Throttle and DISARM behavior
Normal motor output begins only after real throttle rises above 1050. Returning throttle to ≤ 1050 stops normal motor PWM but does not automatically DISARM. Explicit DISARM at low throttle resets assist/PID state and writes zero PWM to all four motors.
# Safe link-loss bench verification
- 1
Remove propellers and secure the frame
Do not perform a link-loss test with propellers installed.
- 2
Connect, keep throttle minimum, and ARM
Confirm telemetry reports ARMED-ready and motors remain off.
- 3
Break the control link
Close/background the app or disable the phone’s Wi-Fi so the active control stream stops.
- 4
Observe the safe result
An ARMED-ready session that never entered powered flight must not spin the motors when failsafe occurs. If motors start, the test fails.
- 5
Reconnect from a safe state
Return to minimum throttle / DISARMED state and re-establish the connection before any further test.
During actual powered flight, loss of valid control packets is detected after roughly 300 ms and firmware uses its validated gradual failsafe-landing path from the last trustworthy flight throttle. Do not use a powered failsafe test as a first beginner check; validate the motor-off ARMED-ready case first.
# Low-battery safety note
The v1 firmware battery/failsafe value is a calibrated ESP supply-voltage proxy read through ESP.getVcc(); it is not a direct raw LiPo-pack voltage measurement. Firmware v1.0.0 uses a tested low-voltage trigger of 2.6 V on that regulated-supply proxy and latches battery lockout after the validated condition. Do not compare this number directly with a 1S LiPo pack voltage.
# Flight-time behavior
Flight time accumulates only while the Drone is ARMED and effective throttle is strictly above 1100. It pauses at 1100 or below and stops on DISARM.