Flight Safety (ArduPilot)

The Flight Safety page configures Return to Launch behavior, geofence settings, and arming checks.

Return to Launch

Settings vary by vehicle type:

RTL altitude — choose between returning at current altitude or a specified altitude (RTL_ALT)
Loiter above home — optionally loiter at the return point before landing, with configurable loiter time (RTL_LOIT_TIME)
Final landing altitude — altitude for the final descent phase (RTL_ALT_FINAL)
Landing speed — descent rate during final landing (LAND_SPD)
RTL radius — loiter radius at the return point (Plane, RTL_RADIUS; 0 uses the default waypoint loiter radius)
Auto-land — automatically land after returning (Plane, RTL_AUTOLAND)

Enable fence — turn the geofence on or off (FENCE_ENABLE)
Fence type — bitmask selecting which limits to enforce: max altitude, min altitude, circle radius, polygon boundaries (FENCE_TYPE)
Max altitude / Min altitude — altitude limits in meters
Circle radius — cylindrical fence radius around home (FENCE_RADIUS)
Fence margin — buffer distance before the fence boundary triggers an action (FENCE_MARGIN)
Fence action — what to do when the fence is breached (RTL / Land / Report Only / etc.)
Auto-enable — automatically enable the fence on arming or mode change (FENCE_AUTOENABLE)
Return altitude (Plane) — altitude for the fence return path (FENCE_RET_ALT)
Return to nearest rally point (Plane) — use the closest rally point instead of home (FENCE_RET_RALLY)

WARNING

Disabling arming checks can be dangerous. Only disable checks if you understand the safety implications.

Arming checks — bitmask of pre-arm checks to enforce (ARMING_CHECK). The first option enables/disables all checks.
Skip checks — alternative bitmask to skip specific checks (ARMING_SKIPCHK)