Safety Features
FALCON includes configurable safety features to ensure safe operation of the motor controller. Safety behavior is controlled through two bitwise parameters: safetyopts and drvopts.
safetyopts
Controls arming and disarming behavior.
/safetyopts
| Value | Name | Description |
|---|---|---|
| 1 | Startup disarm | After startup, throttle is ignored until the signal is valid and at zero. After that, the system arms. |
| 2 | Runtime disarm | When there is an invalid signal or error, the system disarms. To arm again, the throttle must return to zero. |
drvopts
Controls drive behavior options, including signal loss handling and combined brake/reverse.
/drvopts
| Value | Name | Description |
|---|---|---|
| 1 | Combined brake and reverse | Enables the RC car-style combined brake and reverse logic. See [Combined brake and reverse](./combined_brake). |
| 2 | Invalid signal E-stop | Triggers [E-stop](./estop) when input signal becomes invalid (NaN). |
| 4 | Zero signal E-stop | Triggers [E-stop](./estop) when input signal is zero. |
Disarm Reasons
The /disarm_reason state variable indicates what caused the system to disarm.
/disarm_reason
| Value | Name | Description |
|---|---|---|
| 0 | Armed | The system is armed and operational. |
| 1 | Startup disarm | After startup, throttle needs to be at zero (and valid) to arm the system. |
| 21 | Error disarm | The system disarmed due to a driver or common error. Check `/common/error` and `/driver/error`. |
| 28 | Override disarm | The system is disarmed because the driver is overridden via Driver API or the `run` command. |