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, I have not seen any testing results...

Original comment by Alexey.K...@gmail.com on 19 Mar 2013 at 12:34

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They are on the way. It was first report.

And could be is based on old decoder (build mistake), I am just trying to 
figure it out.

Original comment by pa...@kulma.pl on 19 Mar 2013 at 12:37

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Confirmed build/test using new decoder.

Fault is somewhere else.

Original comment by pa...@kulma.pl on 19 Mar 2013 at 12:55

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it happens again. but this time, with throttle input, because it takes too 
long, so i start to play with stick input throttle, moving up and down fast, 
boom DISARM after long long 40min no input.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 1:08

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yay, seem throttle input cause DISARM. move up and down fast for 25 sec -> 
DISARM

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 1:10

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hmmm, try to play again with throttle, but no DISARM occurs :], could be 
coincident.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 1:15

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Thanks, I will try to reproduce this.

Original comment by Alexey.K...@gmail.com on 19 Mar 2013 at 1:16

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For me it's the variable access problem, somewhere the value for THR or state 
is lost/changed.

Original comment by pa...@kulma.pl on 19 Mar 2013 at 1:18

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Have one more but very important question.

The question is if in all cases Mission Planner Failsafe was ON or OFF ???

Original comment by pa...@kulma.pl on 19 Mar 2013 at 6:55

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mine was off

Original comment by voyager4...@gmail.com on 19 Mar 2013 at 8:42

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At this point I am sure all was off ...

But pls send your confirmations... just to confirm :)

Original comment by pa...@kulma.pl on 19 Mar 2013 at 9:24

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when i armed it, the red led is off, not on, is that normal? a few seconds 
motor spinning, then it auto DISARM, red led start to blink.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 9:35

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it keep auto DISARM now, with FAILSAFE all OFF.

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 9:39

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after it auto DISARM, i connect terminal, it blows a bunch of random ascii 
code. is that something wrong with controller?

Original comment by lnqu...@gmail.com on 19 Mar 2013 at 11:16

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@lnquang

Thank you very much. At least problem with quick DISARM after arming I can 
reproduce. This evening I will try to fix it.

Also I have seen problem with auto-Disarming in air... But logs from dataflash 
doesn't help me, because when disarm happen, logs just stop writing.
I can only say, it is not caused by Receiver. It' something wrong in APM code. 
It is not any of failsafe.
When regular disarm happens, we must see appropriate events in logs. But in our 
case in logs just nothing! 

Original comment by Alexey.K...@gmail.com on 20 Mar 2013 at 7:57

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I can not reproduce this at desk at all ... We are testing a little different 
PPM but any way it's a kind of software crush. 
The only issue I can see is that when board power is not strong enough it gets 
reset from time to time - but then you see dancing leds after reset - so it's 
not the case.

Original comment by pa...@kulma.pl on 20 Mar 2013 at 9:06

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today, i put the quad run in altitude hold mode, without prop, as long as 2h 
without any disarm occur, then i try to move turn it, move it, but no disarm, 
then play with control stick, no disarm. i thought the problem gone, so i put 
prop on, fly it around the house for long like 10min, then it happens again 
drop like a rock, try again like 5 more mins, drop again :(
i will try to test 2.9R3 to see if there is any issue with disarm or not.

Original comment by lnqu...@gmail.com on 20 Mar 2013 at 9:14

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2h on and nothing

Original comment by pa...@kulma.pl on 20 Mar 2013 at 10:18

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after working 4h without problems I decided to connect USB by cable to look at 
terminal ... full board reset.

Original comment by pa...@kulma.pl on 20 Mar 2013 at 12:24

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>after working 4h without problems I decided to connect USB by cable to look at 
terminal ... full board reset.

It's normal. USB has reset circuit. Also when you open connection/disconnect in 
terminal, board will reboot.

Original comment by Alexey.K...@gmail.com on 20 Mar 2013 at 12:28

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So it worked for 4h without any issue, with some boards/sticks play in the mean 
time (let's say every 10min). Now I started next test, this time with Mission 
Planner connected all the time.

Original comment by pa...@kulma.pl on 20 Mar 2013 at 12:34

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Mine still disarm, my config with series_ppm disable.

Original comment by lnqu...@gmail.com on 20 Mar 2013 at 3:15

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2.9R7 I found that flying outside I could switch between loiter, alt hold and 
stable would get it to disarm every few flights. I have been testing with 2.9R3 
and can't get it to disarm at all.
Too dark now and getting shouted at by neighbours so will resume more testing 
in the morning.
I have a hex and 2 quads setup for the testing all with Crius AIO Pro v2 boards 
in them running basic Orange DSM2 Rx's, 30Amp SimonK ESC's and HP2212 motors on 
a F450 and F550 frames.

Original comment by pk...@sitedesign.net on 20 Mar 2013 at 9:23

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OK I am not sure if the bug has been resolved but here is some Rlog and Tlog 
data from a disarm affect. It automatically disarmed near the end of the data 
log  

Flight Controller - Crius AOIP v2
Receiver - Frsky D8R -II Plus
Firmware - 2.9 R7  
ESC - Rctimer 30A SimonK Firmware
Software - Mission Planner
PPM connected
GPS connected - UBLOX
Telemetry - 3DR

Test 
1)Moved between Stabilize and Loiter created the disarming
2)Unable to create the disarming bug while in stabilize mode only

If you need me to do anymore test just tell me

Original comment by stuart...@gmail.com on 20 Mar 2013 at 9:58

Attachments:

• [2013-03-20 17-42-08.rlog](https://storage.googleapis.com/google-code-attachments/megapirateng/issue-38/comment-74/2013-03-20 17-42-08.rlog)

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@lnquang

Your bug with quick disarm after arm - fixed. Try latest /beta/2.9.1 r299

Steps to reproduce:
1. Power on board and wait for initialization finished (LED A will flash)
2. Wait ~20sec, do not increase Throttle
3. ARM and do not increase Throttle, after ~5sec board will DISARM 
automatically.

Also I'm found second problem with this AutoDisarm feature. If you will not ARM 
board for 25+sec, this feature will be disabled until Power Off/On.

Both fixed in last revision.

But main problem with auto-disarm in the middle of the air still there :(

Original comment by Alexey.K...@gmail.com on 20 Mar 2013 at 9:58

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Guys,

For best of my knowledge, I would not fly anything newer then R6 now. 
(Or just for pure testing purposes, taking HUGE care ....)

Original comment by pa...@kulma.pl on 20 Mar 2013 at 10:02

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BTW disarm on mode switch is known on ArduCopter forum ...

Original comment by pa...@kulma.pl on 20 Mar 2013 at 10:14

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I am flying with R6 for 30min now, no disarm occurs.

Original comment by lnqu...@gmail.com on 20 Mar 2013 at 10:40

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Please send me link for r6 

Original comment by marvings...@gmail.com on 20 Mar 2013 at 10:47

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R6 is not the medicine for everything. @lnquang is flying using PWM, PPM or v2 
board is another issue ... not so fast guys.

Original comment by pa...@kulma.pl on 20 Mar 2013 at 11:02

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something ive been wondering about
what is the latest version that does not have the disarming issue? ive seen it 
refered to for several versions ?
also i know you can get the latest version from the source link
or you can get versions up to 2.8_r3 from the downloads link i believe these 
are "stable versions"

but how do you get versions between 2.8r3 and 2.9r7?

as this is progressing is the 2.9r7 from the source link being constantly 
updated or once resolved will it become 2.9r8 ????

Aitch

Original comment by aitch1...@aol.com on 21 Mar 2013 at 6:59

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Issue 45 has been merged into this issue.

Original comment by Alexey.K...@gmail.com on 22 Mar 2013 at 12:40

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Ok guys, hope I'm found where is problem. Scheduler I'm used in R7, not working 
properly with APM failsafe function which detects hang of main loop. Even main 
loop working fine, it sometime thing it hanged and disarm motors.
In r300 I'm reverted Scheduler and now it must work well.

Please, try r300 carefully, and report back. Remember, if you not increase 
Throttle in 25sec after Arming, your copter will Auto-disarm - it's normal.

Original comment by Alexey.K...@gmail.com on 22 Mar 2013 at 12:48

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Awesome work Alexey. I will test it out today.

Original comment by glenwimb...@gmail.com on 22 Mar 2013 at 12:53

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Great work sir Alex, no drop so far after 15min flying.

Original comment by lnqu...@gmail.com on 22 Mar 2013 at 3:44

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So far so good. And I haven't been taking it easy even though I probably 
should. A few batteries down, tested stab, altitude, loiter, auto and rtl 
modes. Switched lots between them, nothing to report.

Original comment by glenwimb...@gmail.com on 22 Mar 2013 at 3:48

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I am really happy YOU solved the problem, Alex.

Original comment by pa...@kulma.pl on 22 Mar 2013 at 8:04

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We all solved this problem :)

Original comment by Alexey.K...@gmail.com on 22 Mar 2013 at 8:16

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excellent work

im new to this do i use the three files in above r300 link and replace the same 
files in my folders

or is there a new fully compiled version?

Thanks 
Aitch

Original comment by aitch1...@aol.com on 22 Mar 2013 at 8:19

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Great Sir Alex, good job

Original comment by voyager4...@gmail.com on 22 Mar 2013 at 9:35

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Today i test r300  no disarm (Yesterday  with r299 have disarm )

Original comment by zcom...@gmail.com on 23 Mar 2013 at 1:50

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I've done quite a few flights on r300 now and all good so far :) Looks like you 
got it sorted.

Original comment by glenwimb...@gmail.com on 24 Mar 2013 at 11:29

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Does the failsave works ok now with the new R300?

Original comment by voyager4...@gmail.com on 4 Apr 2013 at 9:03

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If you want a pre-compiled version of the R300 set for V1 boards but also works 
on V2 boards but without loggin then I have it in my Public Google Docs 
location along with params files and info for my quads and hex's.
https://drive.google.com/folderview?id=0B-B7PQy0joGrUjFmb2pSTFlqcWc&usp=sharing

Original comment by pk...@sitedesign.net on 5 Apr 2013 at 5:49

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I have had a couple of customers report mid flight cutouts still with r300 of 
the firmware.
Here is a video of it happening. http://youtu.be/BtN-wJV3e_k
This is take off in stabilize then switch to auto pilot. It heads to the first 
waypoint but is going sideways, it cuts out at or just before the waypoint.

Original comment by pk...@sitedesign.net on 9 Apr 2013 at 8:00

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Has anyone else experienced the same as above? I haven't had any problems thus 
far, but I haven't retested auto since r300. I have done plenty of rtl from 
stabilise though, which is essentially the same thing in that it just goes to a 
waypoint, loiters, then lands. 

Did all 4 motors just cut out pk...?

Original comment by netwimbe...@gmail.com on 11 Apr 2013 at 10:04

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Yes I have had a few customers reporting the issue (about 10 dropouts so far).
I have the firmware compiled (link above) which is being run on V1.1 and V2 
boards. I have the GPS set to U-Blox and board set to V1 so it doesn't do any 
logging (just so the same firmware works well on V1.1 and V2 boards I have out 
there).
I have also seen issues with the V2 boards not booting when V2 is selected for 
logging.

The cutouts tend to be running in Auto pilot mode only as far as I can see. The 
compass gets mixed up and the model heads off sideways or backwards then 
jitters and drops. All motors cutting out at the same time.

Original comment by pk...@sitedesign.net on 11 Apr 2013 at 10:20

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Mines just down it twice. It disarmed the motors very shortly after the mode 
was changed from STAB to LOITER. (running r300)

Original comment by Ian.Pil...@gmail.com on 12 Apr 2013 at 1:15