Safety & Failsafe
Understand the v1.0.0 ARM state, motor-off semantics, and release safety invariants.
ESPFlight Docs · v1 • Validated v1 documentation path
# ARM is explicit
Throttle position never toggles ARM/DISARM by itself.
ARM requires throttle ≤ 1050 plus healthy link, failsafe, battery, and fresh/safe IMU checks.
Successful ARM enters an ARMED-ready state; it does not immediately power the motors.
With throttle ≤ 1050, Roll/Pitch/Yaw PID is reset and all four PWM outputs remain zero.
Normal motor output and attitude PID begin only after real throttle rises above 1050.
# DISARM and low throttle
Returning throttle to ≤ 1050 stops normal motor PWM but keeps the Drone ARMED. Explicit DISARM at low throttle resets assist/PID state and writes zero PWM to all four motors.
VALIDATION INVARIANT
A failsafe cannot power motors from an ARMED-ready session that never entered powered flight.
# Flight-time behavior
Flight time accumulates only while the Drone is ARMED and effective throttle is strictly above 1100. It pauses at 1100 or below and stops on DISARM.