The motor test was refused: the outputs are blocked

What ArduPilot says:

• …: Motor Emergency Stopped
• …: Safety switch

The words before the colon say what was asked: “Motor Test” (the ground station's motor test) or “Turtle Mode”. It was refused because the motors cannot be driven. “Safety switch”: the hardware safety switch is still in its safe state, which keeps every output off. “Motor Emergency Stopped”: an emergency stop set from a switch on the transmitter is on.

What to do, most likely first

1. “Safety switch”: the safety button has not been pressed.

   FixProps off. Hold the safety button until its light is steady, run the test, and press it again afterwards.

2. “Safety switch” on a board that has no safety button.

   CheckNo button is wired (most small boards have none) and BRD_SAFETY_DEFLT is 1.

   FixSet BRD_SAFETY_DEFLT to 0 and reboot: with no button fitted there is nothing to press.

3. “Motor Emergency Stopped”: a switch with RCn_OPTION 31 (Motor Emergency Stop) is high, or one with 165 (Arm/Emergency Motor Stop) is low.

   CheckThe start-up messages and each move of the switch show its state, like “RC8: MotorEStop HIGH”.

   FixMove the switch to its run position, then repeat the test with the props off.

The motor test spins a motor with no stabilisation at all: take the props off first, every time.

Parameters to look at

Where to do it:Setup & Tuning Guide