The plane was armed or disarmed
What ArduPilot says:
- Throttle armed
- Throttle disarmed
On a plane, arming is about one thing: whether the throttle may run. The control surfaces move either way. “Throttle armed”: the arming checks passed and the motor output is released. “Throttle disarmed”: the motor output is held off again (at its minimum pulse with ARMING_REQUIRE 1, no pulse at all with 2); the mission is reset unless the mode is AUTO, and in the modes where the autopilot controls the throttle it is suppressed again until the next launch. Both lines can be switched off with ARMING_OPTIONS bit 1.
From the moment of “Throttle armed” treat the propeller as live: in AUTO or TAKEOFF the motor starts by itself when the launch is detected. A disarm from the rudder stick or the ground station is refused while the plane counts as flying; an arm switch (RCn_OPTION 153) disarms at any time, in the air too.
Parameters to look at
| Parameter | What it is |
|---|---|
ARMING_REQUIRE | Require Arming Motors |
ARMING_RUDDER | Arming with Rudder enable/disable |
ARMING_OPTIONS | Arming options |
The code that sends it
Throttle armed
ArduPlane/AP_Arming.cpp AP_Arming_Plane::arm() · Open in ArduPilot Plane-4.6.3
ArduPlane/AP_Arming_Plane.cpp AP_Arming_Plane::arm() · Open in ArduPilot Plane-4.7.1
Throttle disarmed
ArduPlane/AP_Arming.cpp AP_Arming_Plane::disarm() · Open in ArduPilot Plane-4.6.3
ArduPlane/AP_Arming_Plane.cpp AP_Arming_Plane::disarm() · Open in ArduPilot Plane-4.7.1