The plane will not arm in this flight mode
What ArduPilot says:
- not Q mode
- mode not armable
The pre-arm line starts with the mode's name: “RTL mode not armable”. Plane refuses to arm in RTL, QLAND and QRTL, which fly home or land and so make no sense from the ground, and while the mode still reads INITIALISING. “not Q mode” appears on a QuadPlane with Q_OPTIONS bit 18 set: arming is then allowed only in a VTOL (Q) mode or in AUTO.
What to do, most likely first
The mode switch is in RTL, or a failsafe on the bench has put the plane in RTL.
CheckRead the mode in the ground station. After a radio or battery failsafe the plane stays in RTL until you change the mode.
FixSwitch to the mode you take off in (MANUAL, FBWA, TAKEOFF or AUTO), then arm.
The board has not finished starting.
FixKeep the plane still until the gyro calibration ends and the mode changes from INITIALISING.
It is a QuadPlane set to arm only in VTOL modes, and a fixed-wing mode is selected.
FixArm in QSTABILIZE, QHOVER or QLOITER. Clear
Q_OPTIONSbit 18 (value 262144) only if you want to arm in fixed-wing modes as well.
Parameters to look at
| Parameter | What it is |
|---|---|
FLTMODE_CH | Flightmode channel |
FLTMODE1 | FlightMode1 |
INITIAL_MODE | Initial flight mode |
Q_OPTIONS | quadplane options |
The code that sends it
not Q mode
ArduPlane/mode.cpp Mode::_pre_arm_checks() · Open in ArduPilot Plane-4.7.1
mode not armable
ArduPlane/mode.cpp Mode::pre_arm_checks() · Open in ArduPilot Plane-4.7.1