The flight controller is in ESC calibration, not in normal operation
What ArduPilot says:
- ESC calibration: Passing pilot throttle to ESCs
- ESC calibration: Auto calibration
- ESC calibration: Push safety switch
The flight controller started in ESC calibration and stays in it until the power is removed. “Passing pilot throttle to ESCs”: the throttle stick now goes straight to every motor output, with no arming and no stabilisation. “Auto calibration”: ArduPilot itself sends full throttle for 5 seconds, then zero. “Push safety switch”: repeated every 5 s while it waits for the hardware safety button before it can send anything.
What to do, most likely first
You started the calibration on purpose: throttle high at two power-ons, or
ESC_CALIBRATIONset to 2 or 3.FixProps off. When the ESCs have played their tones, lower the throttle to finish, then disconnect the battery and start again normally.
It started by accident, or the ESCs use DShot and have nothing to calibrate.
FixThrottle down, then disconnect the battery. A DShot motor here simply follows the stick, so keep the props off.
“Push safety switch”: the safety button holds the outputs off.
FixProps off first, then hold the safety button until its light is steady.
In this state the motors answer the throttle stick directly and nothing levels the copter. Never do it with props on.
Parameters to look at
| Parameter | What it is |
|---|---|
ESC_CALIBRATION | ESC Calibration |
MOT_PWM_TYPE | Output PWM type |
MOT_PWM_MIN | PWM output minimum |
MOT_PWM_MAX | PWM output maximum |
BRD_SAFETY_DEFLT | Sets default state of the safety switch |
Where to do it:Setup & Tuning Guide
The code that sends it
ESC calibration: Passing pilot throttle to ESCs
ArduCopter/esc_calibration.cpp Copter::esc_calibration_passthrough() · Open in ArduPilot Copter-4.7.1
ESC calibration: Auto calibration
ArduCopter/esc_calibration.cpp Copter::esc_calibration_auto() · Open in ArduPilot Copter-4.7.1
ESC calibration: Push safety switch
ArduCopter/esc_calibration.cpp Copter::esc_calibration_setup() · Open in ArduPilot Copter-4.7.1