Hi All,
This is the first miss behaviour I have had from my Quad in almost a year. I was tuning the quad though ch6. Rate P was what I was interested in.
I landed the quad and heard the motors fire then stop. I was just about to take off again when the quad took off on its own. Reviewing the logs as it did so was a mode change to RTL. I don't have RTL setup.
The quad is pretty stuffed and requires a complete rebuild including a replacement frame, landing gear and gimbal.
Could someone look at the logs attached and let me know why it decided RTL was a good idea?
CH5 is my mode change by the way.
Quad always flown on Stabilize.
Thx,
Solo.
Replies
James,
Craig and I had a look at your logs and we've found the problem. It appears that the THR_FS_VALUE parameter was set very high and dangerously close to your RC3_MIN. Normally the THR_FS_VALUE parameter is set to about 975 and when your throttle drops below this value, the APM2 will register a failsafe event and move into RTL mode.
In this case, this THR_FS_VALUE was set to 1045 but that is only 2 PWM values below you throttle minimum throttle. PWM values can certainly move around a few points so in this case when you held your throttle low it momentarily dropped to 1043 and the failsafe was triggered and the APM when into RTL mode.