{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/838","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/838/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/838/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/838/events","html_url":"https://github.com/diydrones/ardupilot/issues/838","id":27440896,"number":838,"title":"Copter: ensure hexacopter with failed motor can make safe landing","user":{"login":"t0nimas","id":6563285,"avatar_url":"https://avatars.githubusercontent.com/u/6563285?v=3","gravatar_id":"","url":"https://api.github.com/users/t0nimas","html_url":"https://github.com/t0nimas","followers_url":"https://api.github.com/users/t0nimas/followers","following_url":"https://api.github.com/users/t0nimas/following{/other_user}","gists_url":"https://api.github.com/users/t0nimas/gists{/gist_id}","starred_url":"https://api.github.com/users/t0nimas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/t0nimas/subscriptions","organizations_url":"https://api.github.com/users/t0nimas/orgs","repos_url":"https://api.github.com/users/t0nimas/repos","events_url":"https://api.github.com/users/t0nimas/events{/privacy}","received_events_url":"https://api.github.com/users/t0nimas/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Copter","name":"Copter","color":"02e10c"},{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Enhancement","name":"Enhancement","color":"84b6eb"},{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Safety%20Feature","name":"Safety Feature","color":"e11d21"}],"state":"open","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/diydrones/ardupilot/milestones/10","html_url":"https://github.com/diydrones/ardupilot/milestones/AC%203.4.0","labels_url":"https://api.github.com/repos/diydrones/ardupilot/milestones/10/labels","id":1003972,"number":10,"title":"AC 3.4.0","description":"","creator":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"open_issues":40,"closed_issues":4,"state":"open","created_at":"2015-03-03T13:06:59Z","updated_at":"2015-09-01T06:56:14Z","due_on":"2015-12-30T15:00:00Z","closed_at":null},"comments":12,"created_at":"2014-02-12T15:21:23Z","updated_at":"2015-09-03T13:54:38Z","closed_at":null,"body":"Hello,\r\n\r\nI would like to know the APM response in fornt of an engine failure. As far as I knew, while flying an Hexa/Octo, the APM should be able to ensure the safety of the platform. However, last days, during one of my tests, I tried to fly (automatic) an hexa-rotor with one engine failure and the platform fell down (1000 feets) with any sign of APM response.\r\n\r\nThen, once I arrived to this point, the theory that I was using an hexacopter to ensure the safety due tu redundancy is not working anymore.\r\n\r\nThis is the main reason why I am writing this post. Which is the best way to ensure safety infront of an engine failure in flight? APM code is designed to confront this kind of situations?\r\n\r\nWhich is better:\r\n- Octocopter?\r\n- Coaxial copters (quad,hexa,octo)..."},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/137455680","html_url":"https://github.com/diydrones/ardupilot/issues/838#issuecomment-137455680","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/838","id":137455680,"user":{"login":"lthall","id":100896,"avatar_url":"https://avatars.githubusercontent.com/u/100896?v=3","gravatar_id":"","url":"https://api.github.com/users/lthall","html_url":"https://github.com/lthall","followers_url":"https://api.github.com/users/lthall/followers","following_url":"https://api.github.com/users/lthall/following{/other_user}","gists_url":"https://api.github.com/users/lthall/gists{/gist_id}","starred_url":"https://api.github.com/users/lthall/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lthall/subscriptions","organizations_url":"https://api.github.com/users/lthall/orgs","repos_url":"https://api.github.com/users/lthall/repos","events_url":"https://api.github.com/users/lthall/events{/privacy}","received_events_url":"https://api.github.com/users/lthall/received_events","type":"User","site_admin":false},"created_at":"2015-09-03T13:54:38Z","updated_at":"2015-09-03T13:54:38Z","body":"Hi all,\r\nA hex will need to reduce yaw authority to maintain roll and pitch control. So if you want to make sure your hex will survive a motor out you need to ensure you have a good roll and pitch tune. You must ensure you have plenty of additional power, your copter should be able to lift 3 times it's take off weight (not as hard as it sounds).\r\n\r\nThings that will improve the copters ability to maintain roll and pitch performance you should keep the Rate_Yaw_Imax and MOT_YAW_HEADROOM low.\r\n\r\nSo because you should be losing your Yaw authority if you lose a motor, you should use simple mode of some flavor or simply RTL.\r\n\r\n"}}