Disarming when flying in stab mode!

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What steps will reproduce the problem?
1.When flying at 6mtr it automatic disarmed the motors and the X650 felt down 
like a rock.

Used beta version 2.9R7
Crius AIO v1

Original issue reported on code.google.com by voyager4...@gmail.com on 13 Mar 2013 at 10:55

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Sorry for your lost...

Maybe you have some telemetry logs, videos, something which can help us to 
investigate this issue?

Original comment by Alexey.K...@gmail.com on 13 Mar 2013 at 11:00

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Not to much damage only two motors full of mud :(
I have the logfile and have a video. How can I send it to you?

Original comment by voyager4...@gmail.com on 13 Mar 2013 at 11:03

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You can send it via e-mail: rsoft@tut.by

Original comment by Alexey.K...@gmail.com on 13 Mar 2013 at 11:06

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Ok I will send you the files within a hour, thanks

Original comment by voyager4...@gmail.com on 13 Mar 2013 at 11:07

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it's in your mailbox

Original comment by voyager4...@gmail.com on 13 Mar 2013 at 11:17

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Same problem...MP2.9r7...crius aio pro 1.0, nmea gps...

Strange, after first arming and flight, copter disarmed motors   by self and 
felt down..(luckily, only from 1m hight), then i armed motors again... and 
after 10sek. copter disarmed motors again...after that second disarming -copter 
fly  well all day long-without this problem?

Original comment by DejanMat...@gmail.com on 13 Mar 2013 at 5:47

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Hi,

Would pls simulate failsafe conditions and observe how modes are changing (on 
your desk with Mission planner connected)???

Original comment by pa...@kulma.pl on 14 Mar 2013 at 7:55

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Could you post your params file as well.

Original comment by pa...@kulma.pl on 14 Mar 2013 at 9:26

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Same problem...MP2.9 r6&r7...crius aio pro 1.0, cn-06 gps

loiter mode flying it automatic disarmed 

MP2.9 R3 no problem

Original comment by hmlo...@gmail.com on 14 Mar 2013 at 2:51

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Looks like we need someone with CRIUS v2 and datalogging enable in order to 
catch this bug. Telemetry data from Mission Planner is not enought...
But I'm and Pawel still trying to find bug.

Original comment by Alexey.K...@gmail.com on 14 Mar 2013 at 3:04

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Ok a pitty I don't have the v2. I have downgrade to R6

Original comment by voyager4...@gmail.com on 14 Mar 2013 at 4:21

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Guys, could you give us your ESCs model names and firmware version /if changed 
from factory/ ??

Original comment by pa...@kulma.pl on 14 Mar 2013 at 9:59

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I use the RCTimer ESC 20A (yellow)with stock firmware

Original comment by voyager4...@gmail.com on 14 Mar 2013 at 10:15

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What about MAVLINK (Mission Planner)radio link, was it working during the 
flight ?
Was the FailSafe enabled?? (In code and in the Mission Planner)

Original comment by pa...@kulma.pl on 14 Mar 2013 at 10:21

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MAVLINK was working during flight (record the logfile) Failsave was disabled

Original comment by voyager4...@gmail.com on 14 Mar 2013 at 10:35

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Thanks,

We need more logs and params files (from other cases as well)

Original comment by pa...@kulma.pl on 14 Mar 2013 at 10:40

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My esc are mistery blue 30A preflashed with simonK software...
All parameters and pids are default, no failsafe...besides this bug, hexa flies 
wery well,and this is  probably best megapirate version.Tnx fot the greath work!
I will testing further...but now, weather here is very bad...rain and snow....:)

Original comment by DejanMat...@gmail.com on 14 Mar 2013 at 11:31

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this is a little concerning as i am about to fly this firmware any updates

Original comment by aitch1...@aol.com on 15 Mar 2013 at 9:55

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We are not able to reproduce this bug :(

Guys, next question what is your Rx config (PPM, or PWM) ???

Original comment by pa...@kulma.pl on 15 Mar 2013 at 9:58

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PPM I'm using a Futaba T10-CG radio

Original comment by voyager4...@gmail.com on 15 Mar 2013 at 10:08

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and what Rx ??

Original comment by pa...@kulma.pl on 15 Mar 2013 at 10:17

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OrangeRx Futaba FASST Compatible 8Ch 2.4Ghz Receiver

Original comment by voyager4...@gmail.com on 15 Mar 2013 at 11:02

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My  TX is  Graupner Mx22/jeti duplex tu2 and RX is Jeti duplex RMK2...sum PPM...

Original comment by DejanMat...@gmail.com on 15 Mar 2013 at 7:04

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ok guys,

I have a changed PPM decoder ready for test. I need some help from 2-3 people 
to make simple tests.

What I am looking for is a AIO v1 boards with PPM enabled receivers.
It would be nice if some has a FrSky Rx flashed with 27ms frame upgrade.

Test would consist of building and flashing modified code and simple test using 
Mission Planner. NO BATTERIES :)

pls contact me by email or pm me on RCGroups.

paku

Original comment by pa...@kulma.pl on 16 Mar 2013 at 7:28

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BTW code is tested in-flight few times  ... so I hope .. there will be no 
flames :)

Original comment by pa...@kulma.pl on 16 Mar 2013 at 7:30

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i have the same issues, drop mid air frequently, have to rearm in order to fly 
again. this bug make me worry to fly :(. My hardware:
 AIOP v1
 Stock 9x rx.
 CEIUS uBlox GPS module

Original comment by lnqu...@gmail.com on 17 Mar 2013 at 1:20

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Used beta version 2.9R7...sudden drop in attitude hold too.

Original comment by lnqu...@gmail.com on 17 Mar 2013 at 3:42

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Same problem with 2.8R3 and 2.9R7

Original comment by alberto....@gmail.com on 17 Mar 2013 at 9:21

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forgot to mention, fly with bluetooth module CRIUS.

Original comment by lnqu...@gmail.com on 17 Mar 2013 at 9:57

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one brushless motor fail now, this issue is serious :(

Original comment by lnqu...@gmail.com on 18 Mar 2013 at 7:26

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Guys, 
I'm working on it for 3 days now - 18h a day.

It seems to be solved ... but do you know how many people agreed to test new 
code ... just 2 persons. And NONE from thread here ..... 

Will post new decoder for testing shortly, today.

paku

Original comment by pa...@kulma.pl on 18 Mar 2013 at 8:59

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Paku, you are going too fast. I'm suggest you to test your code on the desk for 
2-3 days, before public test.
At least, you must support all types of decoders and test it. Also you must 
test all FS conditions. Also you must test with 27ms receivers

Moreover, until now, we doesn't have 100% information about this bug.

Original comment by Alexey.K...@gmail.com on 18 Mar 2013 at 9:12

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As I wrote I have 2 testers so it's rather not public ...

Original comment by pa...@kulma.pl on 18 Mar 2013 at 9:14

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Code is ready for beta testers.
Pls contact me if you would like to participate. Need mostly AIO v2 PPM or poor 
 PWM configuration. Other then Frsky links most welcome.

Original comment by pa...@kulma.pl on 18 Mar 2013 at 11:12

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please add me, i am volunteer to test. 

Original comment by lnqu...@gmail.com on 18 Mar 2013 at 11:20

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Thank you :)

Will contact you shortly/today with instructions ...

Original comment by pa...@kulma.pl on 18 Mar 2013 at 12:23

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Ok, plaese ad me too...but i have only crius aio pro v1, and jeti sum ppm...

Original comment by DejanMat...@gmail.com on 18 Mar 2013 at 1:40

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Sure :)

pls contact me by PM on RCgroups will send test instructions this way back.

Original comment by pa...@kulma.pl on 18 Mar 2013 at 2:24

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can we just remove disarm function completely. I cant believe anyone ever need 
disarm while flying. it quite dangerous.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 1:29

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The problem not in failsafe itself.
Moreover, ArduCopter has 3 types of Failsafe and we don't know which of them is 
problematic.
1. Main loop hang detection. If mainloop hang for 2+sec, board will reboot.
2. If you are in STAB or ACRO mode and Throttle = RC_MIN (throttle at 0%) for 
25 sec - Auto disarm. This type of failsafe, you can see very often if you arm 
motors and still not increase throttle...
3. Receiver failsafe. If it enabled in Mission Planner and Throttle goes below 
FS Threshold, Failsafe will switch board into RTL (if GPS available and Home is 
set) or LAND mode or if the Throttle is zero - just disarm motors.

Original comment by Alexey.K...@gmail.com on 19 Mar 2013 at 7:10

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I had the issue as well  I can test your code. I have v2 boards and plenty of 
quads/hexs to test on.
I use turnigy 9x radios with stock rx or orange dsm2 rx.
I will test again with logging enabled and send the logs. Do you want me to put 
a 3dr radio on as well?

Original comment by pk...@sitedesign.net on 19 Mar 2013 at 7:42

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Great! Yes, for first tests, logs from dataflash is enough.
Use latest /beta/2.9.1 and send logs to me: rsoft@tut.by
Or just post it here (preferred, so others can analyze it too).

>I had the issue as well  I can test your code. I have v2 boards and plenty of 
quads/hexs to test on.
>I use turnigy 9x radios with stock rx or orange dsm2 rx.
>I will test again with logging enabled and send the logs. Do you want me to 
put a 3dr radio on as well?

Original comment by Alexey.K...@gmail.com on 19 Mar 2013 at 7:46

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I have one question regarding the state of the copter AFTER the disarm.
If you have any LEDs, buzzers or 3DR links - what have you seen,hear just after 
the disarm.

The question is if it looks like NORMAL disarm or may be more like board reset 
??

Original comment by pa...@kulma.pl on 19 Mar 2013 at 8:56

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i dont think it is a reset, because the green led still on. only red led blink 
indicate disarm when problem occurs.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 11:54

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Green led is on if GPS driver finds FIX data. It could be very fast, if GPS had 
fix before.

But you did not see "dancing lights" ???

Original comment by pa...@kulma.pl on 19 Mar 2013 at 12:00

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I have removed all the props and let it run till auto disarm, observed it.
Yes. no dancing lights, just red led blinking. 

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 12:10

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Good test ....We know something now ...

Original comment by pa...@kulma.pl on 19 Mar 2013 at 12:14

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>I have removed all the props and let it run till auto disarm, observed it.
>Yes. no dancing lights, just red led blinking. 
How you made this test? You board sits on the desk? Do you increase throttle 
above 5% (when motor start spinning)?

Hope you know, if after arming you hold throttle at minimum for 25sec, it will 
automatically disarm. This is one of Arducopter standard failsafes.

Original comment by Alexey.K...@gmail.com on 19 Mar 2013 at 12:16

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yes on the desk, i let the motor spinning in Alt Hold mode, low rpm, no control 
input, just let my 9x as it is. problem occurs after 10min i think. 
i keep doing it again now. not yet occur again so far...

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 12:23

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Alex it was done with new PPM decoder, it's one of the testing procedures /time 
stress test - I sent you yesterday but you did not replay/

It shows the problem is outside the decoder (it disarm on both decoders, while 
new is completly rewritten), I think it's in the original ArduCopter logic. 
After the reading our radio functions.

Original comment by pa...@kulma.pl on 19 Mar 2013 at 12:31