If a hard fault occurs while the flight controller is armed, the firmware has the ability to immediately rearm after rebooting to enable continued RC control of the vehicle for recovery. The state manager also includes functionality for recovering from hard faults if one were to occur, although this is unlikely with unmodified firmware. The following is a simplified version of the finite state machine that defines logic used for the arming, error checks, and failsafe operations: While in failsafe mode the flight controller commands level flight with the throttle value defined by the FAILSAFE_THR parameter. In addition to the error checking before arming, the flight controller enters a failsafe mode if the RC connection is lost during flight while armed.
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