From ce1457e673a2b8b8107f80f72d93ddc7cacc7e37 Mon Sep 17 00:00:00 2001 From: ES-Alexander Date: Tue, 31 Mar 2026 07:20:29 +1100 Subject: [PATCH] Sub: internal-leak-failsafe: cover MAVLink leak detection --- sub/source/docs/internal-leak-failsafe.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sub/source/docs/internal-leak-failsafe.rst b/sub/source/docs/internal-leak-failsafe.rst index 1366647d4d3..123a14a4e67 100644 --- a/sub/source/docs/internal-leak-failsafe.rst +++ b/sub/source/docs/internal-leak-failsafe.rst @@ -18,6 +18,8 @@ Whether the active level of an analog sensor or the logic level from a digital s .. note:: Digital leak detectors should be connected to digital input pins. Some flight controllers support that on :ref:`servo channel ports `, in which case the relevant channel(s) must be configured as :ref:`common-gpios`. +.. note:: Leak detections can also be triggered from a MAVLink subsystem (matching the autopilot's MAVLink system ID), via the extended form of `SYS_STATUS `__ messages. This can be useful for "remote" leak detection (e.g. in a separate enclosure to the autopilot), where it may be impractical to run a leak sensor probe to, or if the autopilot does not have enough GPIO pins available for the desired number of probes. + What will happen ================ When the failsafe occurs, the action taken is determined by the value of :ref:`FS_LEAK_ENABLE`: