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Autonomous UAV Systems · Free resource

PX4 · MAVROS Offboard Control Gate

Hard gates before enabling offboard setpoints — FCU config, MAVLink/MAVROS health, fail-safes, and loss-of-link behavior you can prove.

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1. Flight controller baseline

PX4 (or ArduPilot) firmware version pinned and recoverable via SD / QGC
Airframe + mixer matches the physical vehicle
Sensors calibrated: accel, gyro, mag, level horizon, ESC if required
COM / NAV failsafe parameters reviewed — not left at lab defaults

2. Link & bridge

MAVLink endpoint stable (USB / TELEM / Ethernet) under vibration
MAVROS (or XRCE-DDS) heartbeat continuous; reconnect behavior tested
System ID / component ID unique in multi-vehicle fleets
Offboard setpoint rate measured; dropouts do not spike attitude commands

3. Offboard readiness

Offboard mode only engages after valid setpoint stream (PX4 requirement)
Position / velocity / attitude setpoint contracts documented per mode
Arming inhibited until preflight checklist green
Manual RC override priority verified above autonomy stack

4. Fail-safes you can demonstrate

RC loss → documented action (RTL / land / hold) flown in SITL then field
Data-link loss timeout matches mission risk (not “hope it reconnects”)
Geofence + max altitude enforced; breach action rehearsed
Battery failsafe thresholds leave enough energy for RTL + reserve

5. Field proof

First outdoor flight is tethered or over soft, clear area
Log download (ulog / tlog) path confirmed after every sortie
Incident debrief template ready before “demo day”
Rollback plan: stock PX4 params + known-good SD image on site

Want this applied to your stack? Book a discovery call or request an async audit at edgefield-consulting.pages.dev · aykumar2106@gmail.com

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