Safety Model

Understand ARM, motor power, failsafe, and why those states are intentionally separate.

ESPFlight Docs · v1 • Validated v1 documentation path

# ARM is permission, not power

In v1.0.0, a successful ARM enters an ARMED-ready state. With throttle ≤ 1050, attitude PID remains reset and all four motor PWM outputs remain zero. Motor output begins only after throttle rises above the low-throttle boundary.

# State transitions

DISARMED

Motor output is forced to zero and assist/PID state is reset by explicit DISARM.

ARMED-ready

ARM succeeded but low throttle keeps normal motor output off.

Powered flight

Motor output is active after the documented throttle condition and safety checks are satisfied.

Failsafe

Safety logic owns the response when required conditions are lost; an idle ARM session cannot be turned into powered motor output by failsafe.