Quad took off whilst tuning Rate P Throttle was at Zero

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.

2012-11-08 21-03-56.rlog

2012-11-08 21-03-56.tlog

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  • Developer

    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.

    3692542490?profile=original

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