899 add a failsafes config page by bensgilbert · Pull Request #1021 · FalconGCS/FGCS

bensgilbert · 2026-02-27T07:29:14Z

Please double check this is how failsafes are supposed to work (I've never used them and am going purely off terrible documentation)

Also any comments on the loading of params when the failsafe tab is clicked would be appreciated (you'll see what I mean)

…tion this isn't how enum's are supposed to be used in the first place (consistently using `.value`) but this makes the codebase clearer at least until a proper refactor can take place

Copilot

Pull request overview

This PR adds a failsafes configuration page to the Ground Control Station (GCS), allowing users to configure battery, radio, GCS, and EKF failsafe parameters for both copter and plane aircraft types. It also refactors hardcoded aircraft type values throughout the codebase to use the VehicleType enum for improved maintainability.

Changes:

Added new backend endpoint /endpoints/failsafe.py to handle failsafe parameter retrieval and configuration
Updated tests and multiple controller files to use VehicleType enum instead of magic numbers
Added Redux state management, socket middleware, and emitters for failsafe configuration in the frontend
Created a new React component for the failsafe configuration UI with vehicle-specific parameters

Reviewed changes

Copilot reviewed 11 out of 11 changed files in this pull request and generated 19 comments.

Show a summary per file

File	Description
radio/app/endpoints/failsafe.py	New endpoint implementing get/set operations for failsafe parameters with vehicle-type-specific parameter lists
radio/app/endpoints/init.py	Imports the new failsafe endpoint module
radio/tests/conftest.py	Updated aircraft type checks to use VehicleType enum instead of magic numbers
radio/app/controllers/navController.py	Refactored to use VehicleType.FIXED_WING.value instead of hardcoded 1
radio/app/controllers/frameController.py	Refactored to use VehicleType.FIXED_WING.value instead of hardcoded 1
radio/app/controllers/flightModesController.py	Refactored to use VehicleType.FIXED_WING.value instead of hardcoded 1
gcs/src/redux/slices/configSlice.js	Added failsafe state management including config data, refresh state, actions, and emitters
gcs/src/redux/middleware/socketMiddleware.js	Added socket event handlers for failsafe config retrieval and parameter updates
gcs/src/redux/middleware/emitters.js	Added emitters for failsafe config operations
gcs/src/config.jsx	Added Failsafes tab and panel to the config page
gcs/src/components/config/failsafe.jsx	New React component rendering failsafe configuration UI with vehicle-specific sections

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Copilot · 2026-02-27T07:52:11Z

+        if failsafe_params[param]["success"]:
+            failsafe_config[param] = failsafe_params[param]["data"].param_value
+        else:
+            failsafe_config[param] = "UNKNOWN"


When a parameter fails to load, it's set to "UNKNOWN" (a string), but the NumberInput components expect numeric values. This could cause the input to malfunction if any parameter fails to load. Consider handling the "UNKNOWN" case by either setting a default numeric value (e.g., 0 or undefined) or disabling the input with a visual indicator that the parameter couldn't be loaded.

Suggested change

failsafe_config[param] = "UNKNOWN"

failsafe_config[param] = None

bensgilbert · 2026-02-27T17:22:41Z

some tests pass with Copter simulator, the other tests pass on the Plane simulator

1Blademaster · 2026-02-27T18:30:34Z

Can we show a success notification when a parameter is set successfully so it's 100% clear it's actually getting set.
I don't think we need the "stage 1" and "stage 2" in the battery failsafe section; you can have one without the other for example
I'd prefer if the styling was more similar to the other pages where it's left-aligned and without container boxes
Can the loading overlay not overlay the entire screen; just the failsafes config section is enough
Copter EKF threshold value is not in s, it's just a value from 0-1 (it's for error score which doesn't have a unit)
GCS failsafe is a value field, so it can't be toggleable as it is right now:

1Blademaster · 2026-02-27T18:48:40Z

Also follow convention and make a failsafe controller which does all failsafe parameter management etc

bensgilbert · 2026-03-13T22:03:20Z

I don't think a controller is needed as there isn't any logic behind failsafes, it's just a more convenient way to set relevant parameters so it uses the params controller instead

bensgilbert · 2026-03-13T22:05:00Z

I've done everything else you said but for the battery failsafe stage 1 and 2 that was taken straight from the docs, how would you want it presented instead @1Blademaster ?

1Blademaster · 2026-03-14T04:28:58Z

I don't think a controller is needed as there isn't any logic behind failsafes, it's just a more convenient way to set relevant parameters so it uses the params controller instead

A controller is needed; it makes it organised to understand what is responsible for what. It also will remove the list of variables at the top of the current failsafe route definition file. It will also allow us to do more things in the future, may not be applicable to failsafes but it doesn't mean it shouldn't follow procedure.

There is also some logic that is needed, e.g. if there is low voltage failsafe set then critical voltage failsafe cannot be a higher value than the low voltage. Etc.

1Blademaster · 2026-03-14T04:29:43Z

I've done everything else you said but for the battery failsafe stage 1 and 2 that was taken straight from the docs, how would you want it presented instead @1Blademaster ?

"Low" and "Critical" are just fine and it makes it clear what params it's changing as well.

bensgilbert · 2026-03-28T21:08:31Z

not sure why the other tests are failing but ready for review

Copilot

Pull request overview

Copilot reviewed 15 out of 15 changed files in this pull request and generated 4 comments.

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Copilot · 2026-03-29T11:38:30Z

+        Gets the gripper related parameters from the drone.
+        """
+        self.drone.logger.debug("Fetching gripper parameters")


getFailsafeParams docstring and log messages look copy/pasted from the gripper controller (mentions "gripper" and "from the drone"), but this method is reading from the cached params controller. This makes debugging confusing; please update the wording to refer to failsafe params and clarify it's reading from cache.

Suggested change

Gets the gripper related parameters from the drone.

"""

self.drone.logger.debug("Fetching gripper parameters")

Loads the failsafe-related parameters via the cached params controller.

"""

self.drone.logger.debug("Refreshing cached failsafe parameters")

Copilot · 2026-03-29T11:38:30Z

+                      onChange={(value) =>
+                        debouncedUpdate("THR_FAILSAFE", Number(value))


Mantine Switch onChange receives an event, but this handler treats the argument as a boolean and does Number(value), which will yield NaN and send an invalid parameter value. Use event.currentTarget.checked (and map to 1/0 if the param is numeric) instead.

Suggested change

onChange={(value) =>

debouncedUpdate("THR_FAILSAFE", Number(value))

onChange={(event) =>

debouncedUpdate(

"THR_FAILSAFE",

event.currentTarget.checked ? 1 : 0,

)

Copilot · 2026-03-29T11:38:30Z

+                  value={failsafeConfig.BATT_LOW_VOLT}
+                  onChange={(value) =>
+                    debouncedUpdate("BATT_LOW_VOLT", Number(value))
+                  }
+                  disabled={failsafeConfig.BATT_LOW_VOLT == undefined}


NumberInput onChange can provide ""/null during editing; coercing with Number(value) will turn empty input into 0 (or NaN) and can unintentionally push param updates. Consider guarding like the gripper config does (ignore empty/NaN) or using a shared sanitisation helper.

Copilot · 2026-03-29T11:38:30Z

+              <Select
+                label="Failsafe Low Action"
+                allowDeselect={false}
+                value={String(failsafeConfig.BATT_FS_LOW_ACT)}
+                data={Object.keys(paramDefs.BATT_FS_LOW_ACT.Values).map(
+                  (key) => ({
+                    value: `${key}`,
+                    label: `${key}: ${paramDefs.BATT_FS_LOW_ACT.Values[key]}`,
+                  }),
+                )}


This Select assumes paramDefs.BATT_FS_LOW_ACT is always present and has a Values map. If the loaded param definitions are missing this param for a given vehicle/version, this will throw at render time. Please use optional chaining / fallback (e.g., paramDefs.BATT_FS_LOW_ACT?.Values) and handle the empty-options case; the same pattern applies to the other paramDefs.<PARAM>.Values usages in this component.

1Blademaster · 2026-03-29T11:35:58Z

+            if (msg.success) {
+              showSuccessNotification(msg.message)
+              store.dispatch(
+                updateFailsafeConfigParam({
+                  param_id: msg.param_id,
+                  value: msg.value,
+                }),
+              )


Can you also update the params dict in redux when a param is set successfully so it updates on the params page as well; look at the flight modes config to see how that's done.

1Blademaster · 2026-03-29T11:38:34Z

+        Gets the gripper related parameters from the drone.
+        """
+        self.drone.logger.debug("Fetching gripper parameters")


1Blademaster · 2026-03-29T11:39:02Z

+
+        return self.drone.paramsController.setParam(param_id, value, param_type)
+
+    def getFailsafeParams(self) -> None:


What's the difference between getFailsafeParams and getConfig? They look like they do the same thing?

1Blademaster · 2026-03-29T11:40:42Z

+    success = droneStatus.drone.failsafeController.setFailsafeParam(param_id, value)
+    if success:
+        result = {
+            "success": True,
+            "message": f"Parameter {param_id} successfully set to {value}.",
+            "param_id": param_id,
+            "value": value,
+        }
+    else:
+        result = {
+            "success": False,
+            "message": f"Failed to set parameter {param_id} to {value}.",
+        }
+    socketio.emit("set_failsafe_param_result", result)


Result object should be returned by the controller, not generated inside this endpoint.

1Blademaster · 2026-03-29T11:41:34Z

+
+    socketio.emit(
+        "failsafe_config",
+        {"params": failsafe_config},


Responses need to be generated inside the controller. Also needs to follow the Response type.

1Blademaster · 2026-03-29T11:43:12Z

Can you separate these tests so each test is it's own function and is only testing one thing? I want to do that in all the tests as a future ticket so would help doing it now.

bensgilbert added 2 commits February 27, 2026 07:22

refactor aircraft type literal to dedicated enum - see commit descrip…

1cdd4ba

…tion this isn't how enum's are supposed to be used in the first place (consistently using `.value`) but this makes the codebase clearer at least until a proper refactor can take place

failsafes

e6cf58e

bensgilbert linked an issue Feb 27, 2026 that may be closed by this pull request

Add a failsafes config page #899

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bensgilbert self-assigned this Feb 27, 2026

bensgilbert added the alpha-0.2.2 label Feb 27, 2026

bensgilbert requested a review from 1Blademaster February 27, 2026 07:29

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1Blademaster requested a review from Copilot February 27, 2026 07:45

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bensgilbert added 4 commits February 27, 2026 16:22

copilot suggestions

fdfb183

further copilot changes

d32cc93

final copilot suggestions

e1ef764

fix tests for copter and plane (partly)

36ae6aa

bensgilbert added 6 commits March 8, 2026 06:27

kushes changes

ccd4a31

Merge branch 'main' into 899-add-a-failsafes-config-page

000e88a

merge conflict fixes

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formatting

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Merge branch 'main' into 899-add-a-failsafes-config-page

5798482

marking tests copter/plane only

5ed383e

bensgilbert added 3 commits March 28, 2026 20:01

refactor into controller

ec83fec

Merge branch 'main' into 899-add-a-failsafes-config-page

456e95a

fixes

bec0a23

bensgilbert added 4 commits March 28, 2026 20:44

test fixes

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formatting

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lint

ef4223e

lint again whoopsie

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bensgilbert requested a review from a team March 28, 2026 21:08

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	failsafe_config[param] = "UNKNOWN"
	failsafe_config[param] = None

		onChange={(value) =>
		debouncedUpdate("THR_FAILSAFE", Number(value))


		return self.drone.paramsController.setParam(param_id, value, param_type)

		def getFailsafeParams(self) -> None:

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