Working of Failsafe Co-Processor or IO Processor

Hi Everyone,

Can someone from the dev team kindly explain to me the following:

  1. What happens if FMU Fails?
  2. Are IMUs and other external sensors connected to the IO Processor? If FMU Fails can IO Processor do an RTL?
  3. Since IO Processor controls 8 PWM Outs for ESCs, what will happen if IO Processor fails? Will FMU be able to send PWM outs to ESCs?


The IOMCU allows for direct RC control in the event of an FMU failure, but this only works for Plane in Ardupilot firmware. I’m not familiar enough with PX4 to comment.