Motor keeps spinning, even after disarming

[pintua65]

Current Behavior

Very similar to closed issue #8795 on a fixed wing without prop I'm setting up. I set up calibration, receiver, ports, outputs, modes and I wanted to do a general test to gain confidence with "Modes" control. I am in pure ACRO mode, all the "Tune" or "Safety" option are switched off. After arming and raising the throttle over a value of 1300, the motor keep spinning at that speed (I don't know if it's the max speed) and I loose control over it. Disarming and Failsafe don't work. I have to unplug the batteries. Throttle Sticks from 989->2012 Throttle Stick min value for motor to move: 1100

I searched a lot on forum and found some similar issues where there wasn't evidence of the cause. I tryed and change alternatively nav_fw_min_thr 1200->1999 nav_fw_max_thr 1700->2000 nav_mc_hover_thr = 1300->2000 motor_pwm_rate = 16000->8000 (ESC default value is 16k) without changing the result

I'll upload a log if needed

Steps to Reproduce

1. Setup, calibrate and arm as per take off (plane is leveled horizontal)
2. Push throttle over a value around 1300 (in a scale of 1000-2000)
3. Try to pull the throttle to 0

Expected behavior

I would expect the motor to stop when I pull the throttle to 0

Additional context

dump.txt

INAV/SPEEDYBEEF405WING 7.1.0 Mar 27 2024 / 14:34:15 (59a6ee61) GCC-10.3.1 20210824 (release)

Controller: Speedybee F405Wing ESC: ZTW 30A Motor: 2212 2450KV INAV 7.1 and 6.1 also

[sensei-hacker]

Can you please post a diff? I want to examine and test your config on a different flight controller.

[breadoven]

I assume the servos still work when the motor runs out of control ?

Changing motor_pwm_rateonly affects brushed motors, pmw rate for a Standard ESC is fixed at 400Hz. So it could be you're using another standard ESC that doesn't like 400Hz, as was the case with #8795. What is the specific make of ESC used ?

[pintua65]

Can you please post a diff? I want to examine and test your config on a different flight controller.

diff INAV_7.1.0_cli_20240424_163137.txt

Thank you

[pintua65]

I assume the servos still work when the motor runs out of control ?

Changing motor_pwm_rateonly affects brushed motors, pmw rate for a Standard ESC is fixed at 400Hz. So it could be you're using another standard ESC that doesn't like 400Hz, as was the case with #8795. What is the specific make of ESC used ?

Thank you breadoven,

The ESC is a new one, here below an image and the manual that I read without finding any anomaly. I haven't done any motor calibration yet and I'm using a 3S Lipo pack Might I change the 400kHz frequency? Do you suggest toward 800 or 200?

[pintua65]

I assume the servos still work when the motor runs out of control ? Changing motor_pwm_rateonly affects brushed motors, pmw rate for a Standard ESC is fixed at 400Hz. So it could be you're using another standard ESC that doesn't like 400Hz, as was the case with #8795. What is the specific make of ESC used ?

Thank you breadoven,

The ESC is a new one, here below an image and the manual that I read without finding any anomaly. I haven't done any motor calibration yet and I'm using a 3S Lipo pack Might I change the 400kHz frequency? Do you suggest toward 800 or 200?

Update: I just tried with 800 and 200kHz and I get always the sameresult; attached a diff file for the 800kHz diff2 INAV_7.1.0_cli_20240424_163137.txt

[breadoven]

Unfortunately the motor_pwm_rateis fixed at 400Hz if motor_pwm_protocolis set to STANDARD. motor_pwm_rate only affects brushed motors so changing it won't make any difference in your case. The only solution would be to use a different ESC.

[pintua65]

I will change it and let you know, at least for future similar cases. I need a couple of days but in the meantime if any new idea/test arises let me know! Thank you

[pintua65]

I did a brief test logging the behaviour. After arming, I gently raised the throttle a bit and then put it to 0, then raised it again to cross the threshold. Then I tried to disarm without result as before Thank you inav_data_log_2024-04-24_224108.zip

[pintua65]

Update for future help: I tried with an equivalent RCTimer Multicopter ESC 30A. BEC 5V 2A, DC 6-16.8V and it works perfectly with any adjustment. Maybe is the single ESC or maybe the model, just ask for any test. For instance, this https://rctimer.com/rctimer-simonk-firmware-multicopter-esc-30a-p0032.html

Thank you once more @DzikuVx Pawel and all the group for the incredible effort in this project !