@copilot wrote:
I have build a new drone (running 3.4.6) a couple of days ago and so far it flies pretty well. One aspect that I would just like to understand better is the way the disarming logic works after the copter has landed.
The way that I understand the take-off procedure is that once I arm my drone the motors will spin up to a speed related to the MOT_SPIN_ARM value. Then I increase the throttle and the copter takes to the sky afterwhich the copter will have a "flying" status and will then use MOT_SPIN_MIN as the lower limit for the motors to spin.
The part I don't get is how the copter determines when it has landed to then disarm the motors. From my flight logs I can see that once I touched down and lowered my throttle to minimum the motors drop to a speed which works out to be MOT_SPIN_MIN for a few seconds then drops to MOT_SPIN_ARM speed for a few seconds and only then disarms and stops the motors after probably 5 to 10 seconds. This leaves me with some questions:
Is this normal? To me it looks like the copter does not immediately realise that it has landed and takes some time to change to "landed" status.
How does the copter know that it is now flying (maybe when throttle pass MOT_SPIN_MIN...) and later know that it has landed. Is there parameters one can use to fine tune this?
Is there a status flag one can look at in the log to see if the copter is in flying, landed or any other state?
From what I understand the parameter DISARM_DELAY, is the time window in which the throttle should remain zero for the motors to disarm (when on the ground). Is this both valid for arming before flight and after taking throttle to zero when landing?
If anyone has any input about any of these points it would be very interesting to hear and help me build a better understanding of this aspect.
Thanks!
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