Minor revisions

Author: Hwurzburg

sub/source/docs/ekf-inav-failsafe.rst

@@ -27,7 +27,7 @@ What will happen when the failsafe triggers?
 - The autopilot's `LED will flash red-yellow or blue-yellow and the tone-alarm will sound <https://www.youtube.com/watch?v=j-CMLrAwlco&feature=player_detailpage&t=60s>`__
 - "EKF variance" will appear on the ground station's HUD if telemetry is connected
 - In manual flight modes that do not require position (i.e. Stabilize, Acro, AltHold) nothing further will happen but the pilot will be unable to switch into autonomous flight modes (PosHold, Guided, Auto) until the failure clears
-- In autonomous modes that require position (i.e. PosHold, Guided, Auto, etc) the :ref:`FS_EKF_ACTION <FS_EKF_ACTION>` controls the behaviour.  By default this is "0" meaning the sub will take no action. "1" will send a GCS warning message. "2" will Disarm the sub. 
+- In autonomous modes that require position (i.e. PosHold, Guided, Auto, etc) the :ref:`FS_EKF_ACTION <FS_EKF_ACTION>` controls the behaviour.  By default this is "0" meaning the vehicle will take no action. "1" will send a GCS warning message. "2" will Disarm the sub. 
 - An EKF failsafe error will be written to the dataflash logs
 
 After an EKF failsafe occurs, the pilot can re-take control (using the flight mode switch) in a manual flight mode such as :ref:`AltHold <altholdmode>` to bring the vehicle home.

sub/source/docs/failsafe-landing-page.rst

@@ -1,12 +1,12 @@
 .. _failsafe-landing-page:
 
-========
-Failsafe
-========
+=========
+Failsafes
+=========
 
 Sub has a number of failsafe mechanisms to ease vehicle recovery/prevent wandering in the event that vehicle control is lost. The main failsafe topics are listed below.
 
-.. note:: Once a Radio Failsafe, Battery Failsafe, GCS Failsafe or Terrain Data Loss Failsafe is entered and the failsafe action taken involves a mode change to the vehicle, it will remain in that mode until the pilot changes the mode directly.
+.. note:: Once a Radio Failsafe, Battery Failsafe, GCS Failsafe or Pilot Control Loss Failsafe is entered and the failsafe action taken involves a mode change to the vehicle, it will remain in that mode until the pilot changes the mode directly.
 
 .. toctree::
     :maxdepth: 1

sub/source/docs/gcs-failsafe.rst

@@ -7,22 +7,23 @@ The Ground Station Control (GCS) failsafe controls how Sub will behave if contac
 
 .. note::
 
-   Sub also supports other failsafes: :ref:`Radio <radio-failsafe>`, :ref:`Battery <failsafe-battery>`, and :ref:`EKF / DCM Check <ekf-inav-failsafe>`.
+   Sub also supports other failsafes, see the :ref:`failsafe-landing-page`.
 
 When the failsafe will trigger
 ==============================
 The following situations can cause a loss of GCS MAVLink heartbeat, triggering a GCS failsafe event after :ref:`FS_GCS_TIMEOUT<FS_GCS_TIMEOUT>` seconds:
 
 -  The operator turns off or otherwise disconnects the GCS
--  The sub travels beyond the range of the GCS telemetry radios
+-  The vehicle travels beyond the range of the GCS telemetry radios
 -  The GCS telemetry mechanism on either end loses power
 -  Wires connecting the GCS telemetry to the autopilot or ground equipment become disconnected
 
 What will happen
 ================
-When a GCS failsafe is triggered, the sub can be configured via parameters to do nothing, attempt to send the GCS a warning message, disarm, or change to ALTHOLD or SURFACE modes. 
+When a GCS failsafe is triggered, the vehicle can be configured via parameters to do nothing, send the GCS a warning message, disarm, or change to ALTHOLD or SURFACE modes.
 
-If the failsafe clears (i.e. GCS reconnects and MAVLink heartbeat is restored) the sub will remain in its failsafe mode. It will **not** automatically return to the flight mode that was active before the failsafe was triggered, if it was changed.
+
+If the failsafe clears (i.e. GCS reconnects and MAVLink heartbeat is restored) the vehicle will remain in its failsafe mode. It will **not** automatically return to the flight mode that was active before the failsafe was triggered, if it was changed.
 
 Setting the failsafe
 ====================

sub/source/docs/internal-pressure-failsafe.rst

@@ -3,7 +3,9 @@
 ==========================
 Internal Pressure Failsafe
 ==========================
-Sub can use the barometer normally included with an autopilot to determine if the pressure inside the sub has increased too much. The amount of the pressure in pascals is set by :ref:`FS_PRESS_MAX<FS_PRESS_MAX>`. If it is exceeded, then the following actions is taken as set by the value of the :ref:`FS_PRESS_ENABLE<FS_PRESS_ENABLE>` parameter:
+Sub can use the barometer normally included with an autopilot to determine if the pressure inside the vehicle has increased too much. This could occur if the enclosure is bowing in and near implosion, or if something is burning/off-gassing, or if there's a big enough leak that water is forcing its way in. It can also be from the internal electronics heat.
+
+The amount of the pressure in pascals is set by :ref:`FS_PRESS_MAX<FS_PRESS_MAX>`. If it is exceeded, then the following actions is taken as set by the value of the :ref:`FS_PRESS_ENABLE<FS_PRESS_ENABLE>` parameter:
 
 -  **Disabled** (Value 0) will disable the failsafe entirely.
 -  **Warn Only** (Value 1) will send a GCS warning message.

sub/source/docs/internal-temperature-failsafe.rst

@@ -3,7 +3,7 @@
 =============================
 Internal Temperature Failsafe
 =============================
-Sub can use the barometer normally included with an autopilot to determine if the temperature inside the sub has increased too much. The trigger temperature is set by :ref:`FS_TEMP_MAX<FS_TEMP_MAX>`. If it is exceeded, then the following actions is taken as set by the value of the :ref:`FS_TEMP_ENABLE<FS_PRESS_ENABLE>` parameter:
+Sub can use the barometer normally included with an autopilot to determine if the temperature inside the vehicle has increased too much, which can cause vehicle electronics to malfunction, or may indicate a fire. The trigger temperature is set by :ref:`FS_TEMP_MAX<FS_TEMP_MAX>`. If it is exceeded, then the following actions is taken as set by the value of the :ref:`FS_TEMP_ENABLE<FS_PRESS_ENABLE>` parameter:
 
 -  **Disabled** (Value 0) will disable the failsafe entirely.
 -  **Warn Only** (Value 1) will send a GCS warning message.

sub/source/docs/pilot-control-failsafe.rst

@@ -14,9 +14,9 @@ If :ref:`FS_PILOT_INPUT<FS_PILOT_INPUT>` is non-zero, then lack of both valid RC
 
 What will happen
 ================
-When a Pilot Control failsafe is triggered, the sub can be configured via parameters to do nothing, send the GCS a warning message, or Disarm.
+When a Pilot Control failsafe is triggered, the vehicle can be configured via parameters to do nothing, send the GCS a warning message, or Disarm.
 
-If the failsafe clears (i.e. RC control or MAVLink overrides from GCS is restored) the sub will remain in its failsafe mode. If it is disarmed, and the pilot wished to re-take control he/she would need to rearm the sub . This can be done via RC or GCS.
+If the failsafe clears (i.e. RC control or MAVLink overrides from GCS is restored) the vehicle will remain in its failsafe mode. If it is disarmed, and the pilot wished to re-take control he/she would need to rearm the vehicle . This can be done via RC or GCS.
 
 Setting the failsafe
 ====================

sub/source/docs/radio-failsafe.rst

@@ -10,7 +10,7 @@ Sub supports several configurable failsafe options in cases where contact betwee
 
 .. note::
 
-   Sub also supports other failsafes, including: :ref:`Battery <failsafe-battery>`, :ref:`Ground Station <gcs-failsafe>` and :ref:`EKF/DCM failsafes <ekf-inav-failsafe>`. See the :ref:`failsafe-landing-page` for more details.
+   Sub also supports other failsafes, see the :ref:`failsafe-landing-page`.
 
 When the failsafe will trigger
 ==============================
@@ -25,9 +25,9 @@ If enabled and set-up correctly the radio failsafe will trigger if any of these
 
 What will happen
 ================
-When a radio failsafe is triggered, the sub can be configured via parameters to do nothing, warn the GCS, or switch mode to SURFACE.
+When a radio failsafe is triggered, the vehicle can be configured via parameters to do nothing, warn the GCS, or switch mode to SURFACE.
 
-If the rc failsafe clears (i.e. transmitter and receiver regain contact) the sub will remain in its failsafe mode. It will **not** automatically return to the flight mode that was active before the failsafe was triggered. If the pilot wished to re-take control he/she would need to change the RC flight mode switch to another position.
+If the rc failsafe clears (i.e. transmitter and receiver regain contact) the vehicle will remain in its failsafe mode. It will **not** automatically return to the flight mode that was active before the failsafe was triggered. If the pilot wished to re-take control he/she would need to change the RC flight mode switch to another position.
 
 Receiver Configuration
 ======================