Plane: Quadplane: add thrust loss detection #31764
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Very interesting @IamPete1 - this might work with 4 motors. Since 4.6 QuadPlane can deal with lost motors much better than it used do and specifically the Griffin Pro (in SITL anyway) will not crash if I simulate losing a motor. |
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Marked for call to discuss:
Still to do:
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tridge
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Jan 12, 2026
ArduPlane/quadplane.cpp
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| // Run thrust loss check | ||
| thrust_loss_check(); |
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maybe not run when in fwd transitions? or turn off if any motor tilted beyond 45 degrees?
and add option to disable it
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I have added a option param, it can be turned off completely, or turned off in everything except transitions.
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peterbarker
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Jan 26, 2026
| uint16_t counter; | ||
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| // Options parameter and helper | ||
| AP_Int32 options; |
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| // No failed motor | ||
| if (!motors->get_thrust_boost()) { |
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Suggested change
| // No failed motor | |
| if (!motors->get_thrust_boost()) { | |
| if (!motors->get_thrust_boost()) { | |
| // No failed motor |
Or
Suggested change
| // No failed motor | |
| if (!motors->get_thrust_boost()) { | |
| // Check for failed motor | |
| if (!motors->get_thrust_boost()) { |
similarly for other things in here
tridge
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Jan 26, 2026
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This adds thrust loss detection to quadplane. The thresholds are copied from copter. For thrust loss to be detected the following must be true for one second:
When thrust boost is detected it will stops the mixer constraining the other motor outputs based on the failed motor. This will only really help if you have more than 4 motors since if you have 4 or less you will have already crashed.
Copter has a flight option to disable this check, we will likely want the same.
Currently this is active all the time, we may want to ignore transitions (especially for tiltrotors) or change the thresholds.
Draft PR for now to get some testing.
Another option would be to expose the
motors->set_thrust_boostto scripting so the check could be done with a script and tailored to a specific vehicle, or by using ESC telem for example.