Navigation Failsafe

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The vehicle uses an extended Kalman filter (EKF) to ensure that measurements of the vehicle's state—such as position, speed, and orientation—obtained from various sensors are consistent with each other.

Purpose of the EKF Failsafe

This failsafe mechanism is crucial for ensuring flight safety under the following conditions:

• Sensor Issues
  • GPS glitches
  • Compass errors

When such issues are detected, the EKF failsafe triggers to guarantee a safe termination of the flight.

WHEN IS IT ACTIVATED?	WHAT HAPPENS WHEN IT IS ACTIVATED?	CONTINGENCY MANEUVERS
It is activated when some of the values of position, velocity, orientation variances are greater than the safety threshold for more than 1 second in a row.	By default, the LAND flight mode will be activated, that is, it will land in the place where it was activated. The pilot can choose to switch to Althold flight mode (not dependent on GPS sensors), to control the landing.	Let the failsafe perform the Land action (take into account that the land point may not be ideal for a correct landing).

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