The throttle was high at power-on: ArduPilot waits for a restart
What ArduPilot says:
- ESC calibration: Restart board
At power-on the throttle stick was at 95% or more, which is how the ESC calibration is asked for. ArduPilot has noted the request (ESC_CALIBRATION is now 1) and stopped: it does nothing else until the power is taken off and put back. If the throttle is high again at that next start, the stick is passed straight to the ESCs; if it is low, the copter starts normally and the request is cleared.
What to do, most likely first
The transmitter was on with the throttle up by accident.
FixPull the throttle down, then power the flight controller off and on.
The throttle channel reads high with the stick down: it is reversed or on another stick.
CheckIn the Radio Calibration screen the throttle bar must rise as the stick goes up.
FixCorrect the channel order or the reversal in the transmitter and calibrate the radio again.
You do mean to calibrate PWM ESCs.
FixProps off. Keep the throttle up, disconnect and reconnect the battery, wait for the ESCs' tones, lower the throttle, then power off and on once more.
DShot ESCs have nothing to calibrate. With them ESC_CALIBRATION 9 makes ArduPilot ignore a high throttle at start-up.
Parameters to look at
| Parameter | What it is |
|---|---|
ESC_CALIBRATION | ESC Calibration |
MOT_PWM_TYPE | Output PWM type |
RC3_MIN | RC min PWM |
RC3_MAX | RC max PWM |
Where to do it:Setup & Tuning GuideSetup & Tuning Guide
The code that sends it
ESC calibration: Restart board
ArduCopter/esc_calibration.cpp Copter::esc_calibration_startup_check() · Open in ArduPilot Copter-4.7.1