The throttle stick is too high to switch to a manual-throttle mode on the ground
What ArduPilot says:
- throttle too high
Armed and on the ground in a mode that manages the throttle itself (AltHold, Loiter, Guided, Auto), you asked for a mode where the stick drives the motors directly (Stabilize, Acro, and Drift), with the throttle stick above half of the hover throttle (MOT_THST_HOVER). The motors would jump to that throttle at once and the copter could leap off the ground, so the change is refused.
What to do, most likely first
The throttle stick was left in the middle, as you hold it in AltHold or Loiter.
FixPull the throttle all the way down, then change mode.
The throttle stick is spring-centred, so it rests in the middle by itself.
Check
PILOT_THR_BHVbit 0 is set for such a stick.FixStay in height-holding modes on the ground. If you need Stabilize, hold the stick at the bottom while you move the switch, and be ready: the motors follow the stick at once.
Parameters to look at
| Parameter | What it is |
|---|---|
MOT_THST_HOVER | Thrust Hover Value |
PILOT_THR_BHV | Throttle stick behavior |
Where to do it:Setup & Tuning GuideSetup & Tuning Guide
The code that sends it
throttle too high
ArduCopter/mode.cpp Copter::set_mode() · Open in ArduPilot Copter-4.7.1