The FETtec OneWire ESCs are not ready
What ArduPilot says:
- N of N ESCs are not sending telemetry
- No uart
- Invalid pole count N
- No telem from esc id=N. Resetting it.
- Not initialised
- N of N ESCs are not running
Also explained here: 1 more
- Invalid motor mask
Shown as “PreArm: FETtec: …” when SERVO_FTW_MASK names outputs as FETtec OneWire ESCs. “No uart”: no serial port has SERIALn_PROTOCOL 38. “Invalid motor mask”: the mask names an output above 15, more than the driver handles. “Invalid pole count”: SERVO_FTW_POLES is below 2. “n of m ESCs are not running”: that many have not answered or are still in their bootloader. “Not initialised”: the driver has not finished starting. “not sending telemetry”: an ESC has been silent for more than 0.1 s. “No telem from esc id=n. Resetting it.”: silent for 1 s while disarmed, so it is set up again.
What to do, most likely first
The ESCs have no battery power, or were powered after the flight controller and are still starting.
FixProps off, connect the battery and wait a few seconds; the driver finds the ESCs again by itself.
The serial port or the mask does not match the wiring.
CheckThe ESC ids must run 1, 2, 3 … with no gap, in the order of the outputs set in the mask.
FixSet
SERIALn_PROTOCOL38 on the port the ESCs' signal line is on,SERVO_FTW_MASKto the motors' outputs,SERVO_FTW_POLESto the motors' pole count, and reboot.One ESC or its signal wire is faulty.
FixCheck the wire and the ESC the count points to; the FETtec configurator shows each ESC's state.
Parameters to look at
| Parameter | What it is |
|---|---|
SERVO_FTW_MASK | Servo channel output bitmask |
SERVO_FTW_POLES | Nr. electrical poles |
SERVO_FTW_RVMASK | Servo channel reverse rotation bitmask |
SERIAL1_PROTOCOL | Telem1 protocol selection |
SERIAL2_PROTOCOL | Telemetry 2 protocol selection |
Where to do it:Board & Wiring Planner
The code that sends it
N of N ESCs are not sending telemetry
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::pre_arm_check() · Open in ArduPilot Copter-4.7.1
No uart
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::pre_arm_check() · Open in ArduPilot Copter-4.7.1
Invalid pole count N
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::pre_arm_check() · Open in ArduPilot Copter-4.7.1
No telem from esc id=N. Resetting it.
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::update() · Open in ArduPilot Copter-4.7.1
And 3 more messages, sent from the same places.