FRAME_CLASS names a helicopter, but this is multicopter firmware
Stops itMotors, ESCs and outputsCopter only
What ArduPilot says:
- PreArm: Invalid MultiCopter FRAME_CLASS
FRAME_CLASS is 6 (Heli), 11 (Heli_Dual) or 13 (HeliQuad). Those frames need the separate helicopter build of ArduCopter; the multicopter build you have cannot drive a swashplate.
What to do, most likely first
The wrong number was chosen for a multicopter.
FixSet
FRAME_CLASSto your frame (1 quad, 2 hexa, 3 octa, 5 Y6, 7 tri) and reboot.It is a helicopter, with the multicopter firmware loaded.
FixLoad the helicopter firmware for your board (its name ends in “-heli”).
Parameters to look at
| Parameter | What it is |
|---|---|
FRAME_CLASS | Frame Class |
FRAME_TYPE | Frame Type (+, X, V, etc) |
Where to do it:Setup & Tuning GuideFirmware Builder
The code that sends it
PreArm: Invalid MultiCopter FRAME_CLASS
ArduCopter/AP_Arming.cpp AP_Arming_Copter::parameter_checks() · Open in ArduPilot Copter-4.6.3
ArduCopter/AP_Arming_Copter.cpp AP_Arming_Copter::parameter_checks() · Open in ArduPilot Copter-4.7.1