Vertical Robotics Competition
  • Welcome to VRC!
  • Before We Get Started
    • Phase I Overview
    • Helpful Links
  • Primary Goal: Assembly and Configuration
    • VRC Drone Kit Contents
    • VRC Drone Assembly
      • Arms and Motors
      • Landing Gear, PDB, and Rails
      • ESCs, FC Power Module, and Receiver
      • Flight Controller Enclosure
      • Mounting the Flight Controller
      • Top Plate and Arms
      • FC and ESC Wiring
      • Propeller Adapters
    • RC Transmitter Setup
      • Basic Usage
      • Binding the RC Receiver
      • Setting the Output Mode
      • Setting Up Channels on the RC Transmitter
      • Setting Up Failsafe
    • FC Setup and Calibration w/ QGC
      • PX4 Firmware
      • Airframe
      • Sensors
      • Radio
      • Flight Modes and Kill Switch
      • Power
      • Safety
      • Motor Test
  • Sphero RVR
    • RVR Assembly
    • RVR Programming
  • Battery
    • Overview
    • Charging
    • Storage
  • Checkpoint #1: Flight Test
    • Before You Fly
    • Flight Test
    • After You Fly
  • SECONDARY GOAL: PCC
    • Laptop Setup
      • Setting Up Windows
      • Install Git Bash
      • Clone the VRC Repo
      • Install Anaconda
      • Install VS Code
      • Install SD Card Formatter
      • Install Balena Etcher
      • Install PuTTY
      • Install QGroundControl
    • Peripheral Control Computer (PCC)
      • Physical Assembly
      • Video Tutorial: Flash & Test PCC
      • Flash the PCC
      • Test the PCC
  • Overachiever Goal
    • Vehicle Management Computer (VMC) Setup
      • Preparing the Jetson
      • Flashing the SD Card
      • First Boot
  • 3D Printing Project
    • Project Overview
    • Sr. Design Project
    • Rotor Guards
  • Diving Deeper
    • Control Loops
    • Glossary
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  • Safety Setup
  • Disable Safety Switch

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  1. Primary Goal: Assembly and Configuration
  2. FC Setup and Calibration w/ QGC

Safety

PreviousPowerNextMotor Test

Last updated 4 years ago

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Safety Setup

Previously, in the RC Transmitter Setup section, we covered . In QGC we need to make sure we disable some of the failsafe options, as many of them are related to GPS-enabled drones. VRC is all about indoor navigation in a GPS-denied environment therefore it warrants a different safety configuration. The video below walks through the setup process.

Disable Safety Switch

Bell VRC is about navigating indoors in a GPS-denied environment. In many cases, users of GPS-based drones have a safety switch to pre-arm their drone. Since we do not have the requirement of this hardware we will need to disable the pre-arm check.

In the video below we give an overview of why this parameter needs to be changed and how to do it. You will learn how to assign a value of 22027 (disabled) to CBRK_IO_SAFETY.

To do this we will change one parameter in PX4's configuration known as CBRK_IO_SAFETY. You can find . It's not important to understand all of these parameters, although it is important to understand the process of changing them, as this will be necessary for Phase 2 of VRC.

all PX4 parameters here
Setting Up Failsafe