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IntoFPV Forum › General Discussion › General Topics v
Help with Motor spin on crash

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Help with Motor spin on crash
Welshtog Offline
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#1
20-Apr-2016, 03:35 PM
Hi Guys & Girls,

I seem to have a problem with my quad when i crash (often)

My set up
HMB-235
Dys 1806-2300kv
dal 5040 twin
Naze rev 6
betaflight 2.6.1 (has done the same in 2.6/2.5 etc)

I was going to be coming to ask for tuning help so I turned on blackbox that i have uploaded to dropbox Blackbox for you to to have no nose at.

I have tried Lux and rewrite with changes and defaults. I have tried resetting and different firmware with the same result. Not every time but often when I crash and invert two of the motors ramp up to full power regardless of throttle or arm state.

I was using rewrite yesterday, horizon was like a boat, yet acro was like riding a bull. Changed to 2.6.1 and lux on recommendation. Horizon is now very stable with acro way more controllable, but at the mo if anyone can help with the spinning motors, I would be very happy. Its like putting your hand into a bowl of piranha's with a weeping cut!
Picking up the quad and pull the plug is the only fix.



Code:
# dump

# version
# BetaFlight/NAZE 2.6.1 Apr  8 2016 / 22:44:36 (bdaf8ec)
# dump master

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature RX_PPM
feature VBAT
feature FAILSAFE
feature TELEMETRY
feature LED_STRIP
feature ONESHOT125
feature BLACKBOX


# beeper
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB


# map
map AETR1234


# serial
serial 0 5 115200 57600 0 115200
serial 1 0 115200 57600 0 115200


# led
led 0 6,0::AC:1
led 1 7,0::AC:1
led 2 8,0::AC:1
led 3 4,15:W:IC:2
led 4 5,15::C:2
led 5 6,15::C:2
led 6 7,15::C:2
led 7 8,15::C:2
led 8 9,15::C:2
led 9 10,15::C:2
led 10 11,15:E:IC:2
led 11 0,0:::0
led 12 0,0:::0
led 13 0,0:::0
led 14 0,0:::0
led 15 0,0:::0
led 16 0,0:::0
led 17 0,0:::0
led 18 0,0:::0
led 19 0,0:::0
led 20 0,0:::0
led 21 0,0:::0
led 22 0,0:::0
led 23 0,0:::0
led 24 0,0:::0
led 25 0,0:::0
led 26 0,0:::0
led 27 0,0:::0
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# aux
aux 0 0 2 1750 2100
aux 1 2 0 900 1375
aux 2 12 3 1300 2100
aux 3 14 1 1300 1700
aux 4 25 1 1900 2100
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set mid_rc = 1500
set min_check = 1040
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set rc_smoothing = OFF
set roll_yaw_cam_mix_degrees = 0
set max_aux_channels = 6
set debug_mode = NONE
set min_throttle = 1035
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_oneshot42 = OFF
set use_multishot = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = OFF
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SPEK1024
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = 1
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 35
set vbat_warning_cell_voltage = 36
set vbat_hysteresis = 1
set vbat_pid_compensation = OFF
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 700
set gyro_lpf = OFF
set gyro_sync_denom = 8
set gyro_lowpass_hz =  80.000
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 6
set yaw_deadband = 6
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set super_expo_factor = 30
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1200
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = OFF
set rx_min_usec = 885
set rx_max_usec = 2115
set gimbal_mode = NORMAL
set acc_hardware = AUTO
set acc_lpf_hz =  10.000
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf =  0.600
set baro_cf_vel =  0.985
set baro_cf_alt =  0.965
set baro_hardware = AUTO
set mag_hardware = AUTO
set mag_declination = 0
set pid_process_denom = 1
set blackbox_rate_num = 1
set blackbox_rate_denom = 4
set blackbox_device = SPIFLASH
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# profile
profile 0
############################# PROFILE VALUES ####################################
profile 0

set yaw_p_limit = 400
set pid_delta_method = MEASUREMENT
set dterm_lowpass_hz =  70.000
set dterm_average_count = 4
set iterm_reset_degrees = 200
set yaw_iterm_reset_degrees = 50
set yaw_lowpass_hz =  70.000
set pid_controller = LUX
set p_pitch = 55
set i_pitch = 35
set d_pitch = 18
set p_roll = 40
set i_roll = 35
set d_roll = 18
set p_yaw = 90
set i_yaw = 40
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 100
set p_vel = 55
set i_vel = 55
set d_vel = 0
rateprofile 0

# rateprofile
rateprofile 0

set rc_rate = 100
set rc_expo = 75
set rc_yaw_expo = 24
set thr_mid = 50
set thr_expo = 15
set roll_rate = 75
set pitch_rate = 75
set yaw_rate = 50
set tpa_rate = 0
set tpa_breakpoint = 1500[color=#ffffff][size=x-small][font=monospace][/font][/size][/color]

Thanks
Doug
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sloscotty Offline
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#2
21-Apr-2016, 01:31 AM (This post was last modified: 21-Apr-2016, 01:32 AM by sloscotty.)
I can't help with blackbox, but if I were in your situation, I would test my failsafe first (before flying again). Then I would make sure I knew when I was in Acro mode, and when I was in Horizon or Angle mode.  I'm not gonna unplug a battery when props are spinning - I'll just stand there and let the battery discharge first.
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Welshtog Offline
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#3
21-Apr-2016, 07:25 PM
(21-Apr-2016, 01:31 AM)sloscotty Wrote: I can't help with blackbox, but if I were in your situation, I would test my failsafe first (before flying again). Then I would make sure I knew when I was in Acro mode, and when I was in Horizon or Angle mode.  I'm not gonna unplug a battery when props are spinning - I'll just stand there and let the battery discharge first.

Do you think it has something to do with the failsafe options? What is failing for it to kick in radio? I can still turn the beeper via radio on and off. Also telem is not lost? might be worth a change to option 1 though.

I don't understand your comment on knowing the mode I am in? I use a switch to change. I don't use angle

Ta
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sloscotty Offline
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#4
22-Apr-2016, 10:47 AM (This post was last modified: 22-Apr-2016, 11:00 AM by sloscotty. Edit Reason: Added information )
I believe if you are in Horizon or Angle mode, the motors will try to compensate to bring the quad back to upright and level when the the sticks are released (regardless of throttle). It doesn't care if it's in the air or in a tree (or upside down on the ground). Setting failsafe to kill throttle (or disarm) on loss of signal would allow you turn off your radio and save your fingers. Someone correct me if I'm wrong - I'm not an expert.

Here's the docs on various failsafe settings: https://github.com/cleanflight/cleanflig...ailsafe.md
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Welshtog Offline
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#5
24-Apr-2016, 06:39 PM
(22-Apr-2016, 10:47 AM)sloscotty Wrote: I believe if you are in Horizon or Angle mode, the motors will try to compensate to bring the quad back to upright and level when the the sticks are released (regardless of throttle). It doesn't care if it's in the air or in a tree (or upside down on the ground). Setting failsafe to kill throttle (or disarm) on loss of signal would allow you turn off your radio and save your fingers. Someone correct me if I'm wrong - I'm not an expert.

Here's the docs on various failsafe settings: https://github.com/cleanflight/cleanflig...ailsafe.md

But I'm not in Angle mode? I was taking off in Horizon mode and yep understand on the trying to keep quad upright.
I was in acro when I crashed
I arm and disarm via the switch, no fail safe switch enabled.

Thanks for responding. I think it's a glitch
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KonradS Offline
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#6
24-Apr-2016, 09:10 PM
Did You configure failsafe at all? It's on "land" mode by default.
Find me on Youtube and Instagram. I currently fly: DRC Aura, NOX5R, Minimalist 112 and drive a scrap RC car
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sloscotty Offline
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#7
25-Apr-2016, 12:44 AM
(24-Apr-2016, 06:39 PM)Welshtog Wrote: But I'm not in Angle mode? I was taking off in Horizon mode and yep understand on the trying to keep quad upright.
I was in acro when I crashed
I arm and disarm via the switch, no fail safe switch enabled.

Thanks for responding. I think it's a glitch

Well, here's another thing to check if you are interested.  From the Cleanflight docs (Controls.md):

Code:
min_check

 - With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's.

Or it could be a glitch...
Good luck,
Scotty
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Welshtog Offline
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#8
27-Apr-2016, 04:18 AM
(25-Apr-2016, 12:44 AM)sloscotty Wrote: Well, here's another thing to check if you are interested.  From the Cleanflight docs (Controls.md):

Code:
min_check

 - With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's.

Or it could be a glitch...
Good luck,
Scotty

Yes, that must be it! I will check, but I suspect you are on the money.

Thank you for your patience :-)
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sloscotty Offline
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#9
27-Apr-2016, 09:50 AM (This post was last modified: 27-Apr-2016, 09:52 AM by sloscotty.)
(27-Apr-2016, 04:18 AM)Welshtog Wrote: Yes, that must be it! I will check, but I suspect you are on the money.

Thank you for your patience :-)

That's what we're here for  Big Grin

I still recommend digging into the failsafe docs and getting your head completely around your failsafe settings.  At the end are very good recommendations about thoroughly testing your failsafe settings (bench-testing with props off, and then flight testing with them on). I would add to test them in both acro mode, and in horizon mode.

BTW, welcome to the forum!
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