A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4.
If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. Rally point altitudes will be taken as height above the terrain. In RTL the return to launch altitude will be considered to be a height above the terrain. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Only use a negative value if you find that the nosewheel doesn’t grip well during takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff.
Set to zero for hand and catapult launch. A value of zero means to bypass the initial “tail hold” stage of takeoff. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This parameter sets the amount of elevator to apply during the initial stage of a takeoff.
TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator ¶
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