Failsafe

Setting up Failsafe for RTH

##Forewords

The goal is to configured both your flight controller and radio receiver so failsafe does as expected in every situation.

For failsafe to work optimal iNav needs to know it's in a failsafe event and not just doing regular RTH. This is for example correctly handle loss of GPS while returning to home.

Also this assumes you have regular GPS modes like RTH working already.

###Configuration of receiver

One got two options on how to configure receiver.

Option one

Set receiver to send out NO PULSES

Option two

In Modes tab select a switch for "Failsafe"
Set your switches and sticks of your radio to the following conditions:

Throttle: approx. 0% (no throttle)

Aileron: 50% (no input, stick center)

Rudder: 50% (no input, stick center)

Elevator: 50% (no input, stick center)

Failsafe mode: activated

Arm switch: Disarmed (If you use stick arming you can skip this)

Configure failsafe on your receiver to the above conditions on link loss (consult manual for your receiver on how to do it)

###Configuration of iNav

Go to Failsafe tab, and enable RTH as Stage 2 failsafe.

Stage 1 is default safe to use. You can also make sure AUX channels on Failsafe tab are set to Hold, Throttle channel is set to Hold as well, Roll, Pitch and Yaw channels are set to Auto.

It will to contuinue what the pilot was doing.

Behavior of RTH can also be configured.