The tricopter's tail servo has no output
What ArduPilot says:
- no SERVOx_FUNCTION set to Motor7 for tail servo
A tricopter (FRAME_CLASS 7) steers in yaw by tilting its rear motor with a servo. ArduPilot calls that servo's output Motor7: one SERVOn_FUNCTION must be 39. None was at start-up, so it will not arm. Output 7 gets this function by default, unless it already had another.
What to do, most likely first
The output the tail servo is plugged into has another function.
FixSet that output's
SERVOn_FUNCTIONto 39 and reboot: the servo is looked for at start-up only.The aircraft is not a tricopter:
FRAME_CLASSis 7 by mistake.FixSet the right
FRAME_CLASSand reboot.
Parameters to look at
| Parameter | What it is |
|---|---|
FRAME_CLASS | Frame Class |
SERVO7_FUNCTION | Servo output function |
MOT_YAW_SV_ANGLE | Yaw Servo Max Lean Angle |
Where to do it:Setup & Tuning GuideSetup & Tuning Guide
The code that sends it
no SERVOx_FUNCTION set to Motor7 for tail servo
libraries/AP_Motors/AP_MotorsTri.cpp AP_MotorsTri::arming_checks() · Open in ArduPilot Copter-4.7.1