Crash detected: the motors were stopped
What ArduPilot says:
- Crash: Disarming: AngErr=N.N>N.N, Accel=N.N<N.N
- ERR CRASH_CHECK-1 (Subsys 12, ECode 1)
The crash check disarmed the copter. For 2 s on end it was armed and not landed, its attitude was more than 30° from what the controller asked for (AngErr, the first number, against the limit 30), it leaned more than 15°, its acceleration stayed under 3 m/s² (Accel against the limit 3.0, so it was lying still and not manoeuvring), and it moved slower than 10 m/s. That describes a copter on its side or upside down on the ground. The line is written after the crash; what caused it is earlier in the log.
What to do, most likely first
It tipped over on take-off: a motor on the wrong output or spinning the wrong way, or a prop fitted upside down or on the wrong motor.
CheckThe log is seconds long and the motor outputs (RCOU) split to opposite extremes as soon as the throttle rises.
FixWith the props off, run the motor test and check each motor's place and direction against the frame diagram; then fit each prop to match its motor's direction.
A motor, ESC or propeller failed in flight, and the copter came down tumbling.
CheckBefore the fall one output in RCOU goes to maximum while the opposite one goes to minimum, and “Potential Thrust Loss” may appear.
FixInspect that arm: the prop and its nut, motor bearings and screws, the ESC and its solder joints. Replace what is damaged before the next flight.
A landing with sideways speed, or on a slope or in tall grass, rolled the copter over before it disarmed.
CheckThe message comes at the end of an otherwise normal flight, with height near zero.
FixLand on level, clear ground with no sideways movement, and disarm as soon as it is down.
Disconnect the battery before you touch a crashed copter: disarmed motors can still start if the flight controller is armed again. The check does not run in Acro or Flip.
Parameters to look at
| Parameter | What it is |
|---|---|
FS_CRASH_CHECK | Crash check enable |
FRAME_CLASS | Frame Class |
FRAME_TYPE | Frame Type (+, X, V, etc) |
Where to do it:Failsafe ExplainerSetup & Tuning GuideMotor & Prop Bench
The code that sends it
Crash: Disarming: AngErr=N.N>N.N, Accel=N.N<N.N
ArduCopter/crash_check.cpp Copter::crash_check() · Open in ArduPilot Copter-4.7.1