The RichenPower generator is not ready for flight
What ArduPilot says:
- requested state is not RUN
- need a servo output channel
- unknown error: 1U<<N
- Crash; stopping generator
- RichenPower: protocol N.N.N
- not running
Also explained here: 4 more
- Generator: requires maintenance
- Generator warming up (N.N%)
- no messages in Nms
- error: …
These follow “Generator:” for a RichenPower hybrid generator (GEN_TYPE 3), and ArduPilot arms only with the generator running. “no messages in …ms”: nothing from it for over 2 s (it reports once a second). “need a servo output channel”: no output has SERVOn_FUNCTION 42. “error: …”: the generator's own fault (StartDisabled, Overload, LowVoltageOutput, LowBatteryVoltage). “requested state is not RUN”: the pilot's generator switch is not at run. “warming up (60%)”: wait. “not running”: asked to run, but it is not.
What to do, most likely first
The generator switch on the transmitter is at stop or idle.
FixMove the switch with
RCn_OPTION85 (Generator) to its high position (run), wait for the warm-up to reach 100%, then arm.The serial link from the generator is down.
CheckThe port the generator is on needs
SERIALn_PROTOCOL30; a working link prints “RichenPower: protocol …” once.FixCheck the wiring and that the generator's controller is powered.
No output controls the generator's throttle.
FixSet
SERVOn_FUNCTIONto 42 on the output wired to the generator's control input.The generator reports a fault of its own.
FixFollow the generator's manual for the named error; do not fly on an Overload or a low-voltage fault.
“Generator: requires maintenance” (once a minute while disarmed) does not stop arming; do the service the maker's schedule asks for. “Crash; stopping generator”: ArduPilot detected a crash and set the generator to stop; move the switch to run again when it is safe.
Parameters to look at
| Parameter | What it is |
|---|---|
GEN_TYPE | Generator type |
GEN_OPTIONS | Generator Options |
SERIAL1_PROTOCOL | Telem1 protocol selection |
SERIAL2_PROTOCOL | Telemetry 2 protocol selection |
SERIAL3_PROTOCOL | Serial 3 (GPS) protocol selection |
SERIAL4_PROTOCOL | Serial4 protocol selection |
The code that sends it
requested state is not RUN
libraries/AP_Generator/AP_Generator_RichenPower.cpp AP_Generator_RichenPower::pre_arm_check() · Open in ArduPilot Copter-4.7.1
need a servo output channel
libraries/AP_Generator/AP_Generator_RichenPower.cpp AP_Generator_RichenPower::pre_arm_check() · Open in ArduPilot Copter-4.7.1
unknown error: 1U<<N
libraries/AP_Generator/AP_Generator_RichenPower.cpp AP_Generator_RichenPower::pre_arm_check() · Open in ArduPilot Copter-4.7.1
Crash; stopping generator
libraries/AP_Generator/AP_Generator_RichenPower.cpp AP_Generator_RichenPower::update_runstate() · Open in ArduPilot Copter-4.7.1
And 6 more messages, sent from the same places.