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relentlessly · 10-Jul-2016, 07:25 PM

Hello,

I am just completing a zmr250 build, and cannot get the my naze32 v6 to arm, no matter what I try.

Details:

frame: zmr250 from banggood with pdb
bec: Matek mini power hub
motors: Sunnysky x-2204 2204 2300kv
esc: little bee 20amp (FVT little bee 20amp) - flashed to blheli 14.6
flight controller: naze32 rev 6 full (not acro- has baro and mag )
receiver: frsky x8r
transmitter: taranis x9d plus
battery : 3s 1500mah 50c greathobby
firmware: cleanflight 1.13.0

I am at a complet loss as to why the board will not arm. I have it configure to use aux2 - a two position switch on the taranis.
When I power the naze32 up, I get a solid blue light, a solid red light (because it is in self level?) and a slow blinking green light (which from previous googling means something is wrong)

I have re done the magnetometer and accelerometer calibration multiple time.
I tried resetting the cleanflight configuration to defaults, won't arm.
I tired re-flashing the firmware, still won't arm

I tried unplugging vbat, smartport telemetry, sbus : still won't arm.

Receiver page of clean flight, with transmitter on.
[Image: RAFdGSrl.png]

Code:
# version
 # Cleanflight/NAZE 1.13.0 Jun  6 2016 / 00:03:48 (a77bc76)
 # 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 VBAT
 feature RX_SERIAL
 feature SOFTSERIAL
 feature FAILSAFE
 feature TELEMETRY
 feature ONESHOT125
 feature BLACKBOX
 
 
 # map
 map TAER1234
 
 
 # serial
 serial 0 1 115200 57600 0 115200
 serial 1 64 115200 57600 0 115200
 serial 30 32 115200 57600 9600 115200
 serial 31 0 115200 57600 0 115200
 
 
 # led
 led 0 15,15:ES:IA:0
 led 1 15,8:E:WF:0
 led 2 15,7:E:WF:0
 led 3 15,0:NE:IA:0
 led 4 8,0:N:F:0
 led 5 7,0:N:F:0
 led 6 0,0:NW:IA:0
 led 7 0,7:W:WF:0
 led 8 0,8:W:WF:0
 led 9 0,15:SW:IA:0
 led 10 7,15:S:WF:0
 led 11 8,15:S:WF:0
 led 12 7,7:U:WF:0
 led 13 8,7:U:WF:0
 led 14 7,8:D:WF:0
 led 15 8,8:D:WF:0
 led 16 8,9::R:3
 led 17 9,10::R:3
 led 18 10,11::R:3
 led 19 10,12::R:3
 led 20 9,13::R:3
 led 21 8,14::R:3
 led 22 7,14::R:3
 led 23 6,13::R:3
 led 24 5,12::R:3
 led 25 5,11::R:3
 led 26 6,10::R:3
 led 27 7,9::R:3
 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
 
 
 # mode_color
 mode_color 0 0 1
 mode_color 0 1 11
 mode_color 0 2 2
 mode_color 0 3 13
 mode_color 0 4 10
 mode_color 0 5 3
 mode_color 1 0 5
 mode_color 1 1 11
 mode_color 1 2 3
 mode_color 1 3 13
 mode_color 1 4 10
 mode_color 1 5 3
 mode_color 2 0 10
 mode_color 2 1 11
 mode_color 2 2 4
 mode_color 2 3 13
 mode_color 2 4 10
 mode_color 2 5 3
 mode_color 3 0 8
 mode_color 3 1 11
 mode_color 3 2 4
 mode_color 3 3 13
 mode_color 3 4 10
 mode_color 3 5 3
 mode_color 4 0 7
 mode_color 4 1 11
 mode_color 4 2 3
 mode_color 4 3 13
 mode_color 4 4 10
 mode_color 4 5 3
 mode_color 5 0 9
 mode_color 5 1 11
 mode_color 5 2 2
 mode_color 5 3 13
 mode_color 5 4 10
 mode_color 5 5 3
 mode_color 6 0 6
 mode_color 6 1 10
 mode_color 6 2 1
 mode_color 6 3 0
 mode_color 6 4 0
 mode_color 6 5 2
 mode_color 6 6 3
 mode_color 6 7 6
 
 set looptime = 2000
 set emf_avoidance = OFF
 set i2c_highspeed = ON
 set gyro_sync = ON
 set gyro_sync_denom = 1
 set mid_rc = 1500
 set min_check = 1100
 set max_check = 1900
 set rssi_channel = 0
 set rssi_scale = 30
 set rssi_ppm_invert = OFF
 set rc_smoothing = OFF
 set rx_min_usec = 885
 set rx_max_usec = 2115
 set serialrx_provider = SBUS
 set sbus_inversion = ON
 set spektrum_sat_bind = 0
 set input_filtering_mode = OFF
 set min_throttle = 1150
 set max_throttle = 2000
 set min_command = 1000
 set servo_center_pulse = 1500
 set motor_pwm_rate = 400
 set servo_pwm_rate = 50
 set 3d_deadband_low = 1406
 set 3d_deadband_high = 1514
 set 3d_neutral = 1460
 set retarded_arm = OFF
 set disarm_kill_switch = ON
 set auto_disarm_delay = 5
 set max_arm_angle = 25
 set small_angle = 25
 set fixedwing_althold_dir = 1
 set reboot_character = 82
 set gps_provider = NMEA
 set gps_sbas_mode = AUTO
 set gps_auto_config = ON
 set gps_auto_baud = OFF
 set telemetry_switch = OFF
 set telemetry_inversion = ON
 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 hott_alarm_sound_interval = 5
 set battery_capacity = 0
 set vbat_scale = 110
 set vbat_max_cell_voltage = 43
 set vbat_min_cell_voltage = 33
 set vbat_warning_cell_voltage = 35
 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 = 180
 set max_angle_inclination = 500
 set gyro_lpf = 188HZ
 set gyro_soft_lpf = 60
 set moron_threshold = 32
 set imu_dcm_kp = 2500
 set imu_dcm_ki = 0
 set pid_at_min_throttle = ON
 set yaw_motor_direction = 1
 set yaw_jump_prevention_limit = 200
 set tri_unarmed_servo = ON
 set servo_lowpass_freq =  400.000
 set servo_lowpass_enable = OFF
 set failsafe_delay = 10
 set failsafe_off_delay = 200
 set failsafe_throttle = 1000
 set failsafe_kill_switch = OFF
 set failsafe_throttle_low_delay = 100
 set failsafe_procedure = 0
 set acc_hardware = 0
 set baro_hardware = 0
 set mag_hardware = 0
 set blackbox_rate_num = 1
 set blackbox_rate_denom = 1
 set blackbox_device = SERIAL
 set magzero_x = 0
 set magzero_y = 161
 set magzero_z = -42
 
 # 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
 
 # dump profile
 
 # profile
 profile 0
 
 # aux
 aux 0 0 1 1700 2100
 aux 1 1 0 900 1300
 aux 2 2 0 1300 1700
 aux 3 0 0 900 900
 aux 4 0 0 900 900
 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
 
 # rxrange
 rxrange 0 1000 2000
 rxrange 1 1000 2000
 rxrange 2 1000 2000
 rxrange 3 1000 2000
 
 # servo
 servo 0 1000 2000 1500 45 45 100 -1
 servo 1 1000 2000 1500 45 45 100 -1
 servo 2 1000 2000 1500 45 45 100 -1
 servo 3 1000 2000 1500 45 45 100 -1
 servo 4 1000 2000 1500 45 45 100 -1
 servo 5 1000 2000 1500 45 45 100 -1
 servo 6 1000 2000 1500 45 45 100 -1
 servo 7 1000 2000 1500 45 45 100 -1
 
 set gps_pos_p = 15
 set gps_pos_i = 0
 set gps_pos_d = 0
 set gps_posr_p = 34
 set gps_posr_i = 14
 set gps_posr_d = 53
 set gps_nav_p = 25
 set gps_nav_i = 33
 set gps_nav_d = 83
 set gps_wp_radius = 200
 set nav_controls_heading = ON
 set nav_speed_min = 100
 set nav_speed_max = 300
 set nav_slew_rate = 30
 set alt_hold_deadband = 40
 set alt_hold_fast_change = ON
 set deadband = 0
 set yaw_deadband = 0
 set yaw_control_direction = 1
 set 3d_deadband_throttle = 53252
 set throttle_correction_value = 0
 set throttle_correction_angle = 800
 set default_rate_profile = 0
 set gimbal_mode = NORMAL
 set acc_cut_hz = 15
 set accxy_deadband = 40
 set accz_deadband = 40
 set accz_lpf_cutoff =  5.000
 set acc_unarmedcal = ON
 set acc_trim_pitch = 2
 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 mag_declination = 0
 set pid_controller = MWREWRITE
 set p_pitch = 40
 set i_pitch = 30
 set d_pitch = 23
 set p_roll = 40
 set i_roll = 30
 set d_roll = 23
 set p_yaw = 85
 set i_yaw = 45
 set d_yaw = 0
 set p_alt = 50
 set i_alt = 0
 set d_alt = 0
 set p_level = 20
 set i_level = 10
 set d_level = 100
 set p_vel = 120
 set i_vel = 45
 set d_vel = 1
 set yaw_p_limit = 500
 set dterm_cut_hz = 0
 set gtune_loP_rll = 10
 set gtune_loP_ptch = 10
 set gtune_loP_yw = 10
 set gtune_hiP_rll = 100
 set gtune_hiP_ptch = 100
 set gtune_hiP_yw = 100
 set gtune_pwr = 0
 set gtune_settle_time = 450
 set gtune_average_cycles = 16
 
 # dump rates
 
 # rateprofile
 rateprofile 0
 
 set rc_rate = 90
 set rc_expo = 65
 set rc_yaw_expo = 0
 set thr_mid = 50
 set thr_expo = 0
 set roll_rate = 0
 set pitch_rate = 0
 set yaw_rate = 0
 set tpa_rate = 0
 set tpa_breakpoint = 1500

JimmyLe813 · (This post was last modified: 10-Jul-2016, 11:34 PM by JimmyLe813.)

try disabling the mag and baro. see what it does. I'm not to sure about the naze but with my prior experience with APM, when you plug the battery it does a self calabration of both sensors and if it can't calibrate it won't let you arm. try disabling them to see if one of those could be the problem.

oyvinla · (This post was last modified: 10-Jul-2016, 11:55 PM by oyvinla.)

From the cli dump it looks like your loop time is set to 2000, but on the bottom of the cleanflight gui it says 995. That's a bit strange. Try write status in the cli command window and check your cpu usage

relentlessly · (This post was last modified: 11-Jul-2016, 12:03 AM by relentlessly.)

Thanks JimmyLe813

So while trying to figure out how to disable the mag and baro I found :

https://oscarliang.com/cleanflight-setti...-looptime/

I tried set acc_hardware = 1, and low an behold I could arm.
That made me think you are correct, so I ran a dump from the cli and searched through the output and found

set baro_hardware = 0
set mag_hardware = 0

I set both = 1 and now I can arm.
I tested with each one enabled with the other disabled, and I cannot arm. Both mag and baro must be disabled for me to arm.

Well I think that is odd, but at least I can arm.
Now to figure out how to get frsky smartport telemetry on softserial.
I have pin 5 and 6 joined and connect to the signal pin of the smartport port on the x8r along with a ground wire. but it doesn't seem to work.
Oh well more research needed on my part.

Here the dump from cli regarding my naze32 cpu usage

Code:
# tasks
 Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM      10       0       9    0.5%    0.5%         7
 1 -     GYRO/PID     820     651    1006   82.9%   65.9%    111476
 2 -        ACCEL     160     129     521    8.8%    7.2%     21246
 3 -       SERIAL   77090       2      77  594.0%    0.5%      1007
 4 -       BEEPER       8       0      91    0.5%    0.5%        27
 5 -      BATTERY   40087       1      47  188.9%    0.5%       120
 6 -           RX     173     142     111    2.4%    2.0%      3056
 13 -    TELEMETRY      14       0     249    0.8%    0.5%       227
 
 # status
 System Uptime: 170 seconds, Voltage: 113 * 0.1V (3S battery - OK), System load: 0.59
 CPU Clock=72MHz, GYRO=MPU6500, ACC=MPU6500
 Cycle Time: 993, I2C Errors: 0, registry size: 46

JimmyLe813 · 11-Jul-2016, 12:44 AM

on the Taranis, go to the telemetry page and detect sensors. looking at your dump (lol no pun intended) all your settings are correct. so I'm thinking it's on your transmitter's end.

oyvinla · (This post was last modified: 11-Jul-2016, 07:15 AM by oyvinla.)

I think the the system load at 59% is a bit high. Try to write status in the cli again with your acc, baro and mag enabled and I think you should see a cpu usage above 100%. The acc, baro and mag uses a lot of cpu, so disabling them will allow you to run faster loop times.
But the naze32 should be able to run the acc, mag and baro at looptime =1000, so if you want to have them enabled, try set the looptime to 1000

relentlessly · 13-Jul-2016, 04:01 AM

Thanks oyvinla,

I will certainly try that out. it would be nice to be able to have then enabled.

Thanks everyone for you help. I managed to get arming working as I previously mentioned. I also managed to figure out my frsky smartport telemetry.

When de-soldering a pin header from the naze32 and re-soldering a new pin header, I managed to short pin 6 to ground. This was preventing telemetry from working.
I moved to pins 7 and 8 and enabled softserial 2 (and disabled softserial 1). I did managed to fix the short and in theory could move back to softserial 1 using pins 5 & 7.

So now I think I have everything working.

JimmyLe813 · 13-Jul-2016, 02:10 PM

good job relentlessly. now go out and crash something. Big Grin

but remember to have fun doing it.

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