Overview

The LEAK parameter group configures the Leak Detection system for ArduSub (ROVs).

Water ingress is the primary failure mode for underwater vehicles. This system monitors up to 3 physical leak sensors and triggers a failsafe alert (and optionally an autonomous surfacing maneuver) if water is detected.

Key Concepts

1. Sensor Logic

LEAKn_TYPE: 1=Digital (Pin high/low).
LEAKn_LOGIC: Defines if "Wet" is High (3.3V) or Low (0V).
LEAKn_PIN: The GPIO pin on the flight controller connected to the sensor.

Integration Guide

Hardware: Place leak probes at the lowest point of the electronics enclosure.
Config: Set the pin and logic based on your sensor (e.g., BlueRobotics SOS probe).
Failsafe: Configure the GCS to alert the pilot immediately on a leak trigger.

Developer Notes

Library: libraries/AP_LeakDetector.
Context: Only relevant for ArduSub.

LEAK1_LOGIC

Leak Sensor Logic (Sensor 1)

Default 0

Range 0 1

Leak Sensor Logic (LEAK1_LOGIC)

Description

LEAK1_LOGIC calibrates the autopilot for your specific leak sensor hardware.

0: Low when dry (Default). The sensor reports a logical 0 when no water is present.
1: High when dry. The sensor reports a logical 1 when dry.

Tuning & Behavior

Calibration: If your GCS reports a "LEAK" error even when the ROV is completely dry, try toggling this parameter.
Safety: Always test your leak sensor manually (e.g. by bridging the contacts with a damp cloth) before diving to ensure the autopilot correctly detects the alarm state.

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LEAK1_PIN

Leak Detector Pin (Sensor 1)

Default -1

Range -1 103

Leak Detector Pin (LEAK1_PIN)

Description

LEAK1_PIN sets the physical pin on the flight controller where the leak sensor's signal is connected.

-1: Not used.
0-9: Analog Pin Number.
50-55: AUX Out Pins.

Tuning & Behavior

Default: -1.
Action: Ensure the pin matches your hardware wiring.

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LEAK1_TYPE

Leak Detector Type (Sensor 1)

Default 0

Range 0 1

Leak Detector Type (LEAK1_TYPE)

Description

LEAK1_TYPE enables the first leak detection sensor. This is a critical safety feature for ROVs (ArduSub) and boats to detect water ingress before it causes a short circuit or catastrophic failure.

0: Disabled.
1: Analog. For sensors that output a varying voltage (common for simple resistive probes).
2: Digital. For sensors that output a simple HIGH/LOW signal.

Tuning & Behavior

Reboot Required: Yes.
Integration: Once enabled, you must also set the physical pin number using LEAK1_PIN.
Safety: When a leak is detected, ArduPilot will trigger a GCS warning and can be configured to perform a failsafe action (like surfacing or stopping).

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