Turtle mode is waiting for the throttle
What ArduPilot says:
- Turtle: raise throttle to arm
Turtle mode turns a copter lying on its back over by spinning chosen motors in reverse. With the throttle stick at zero the motors stay stopped and this reminder repeats every 5 s. Raise the throttle to arm the motors in reverse, then push the roll or pitch stick towards the side that should lift; lower the throttle to stop them again. The radio, ground-station and EKF failsafes are switched off while the motors run in this mode and come back when they stop.
Keep people away: the props spin with the copter upside down on the ground. Leave Turtle mode before you try to arm normally.
Parameters to look at
| Parameter | What it is |
|---|---|
SERVO_DSHOT_ESC | Servo DShot ESC type |
MOT_PWM_TYPE | Output PWM type |
Where to do it:Setup & Tuning Guide
The code that sends it
Turtle: raise throttle to arm
ArduCopter/mode_turtle.cpp ModeTurtle::output_to_motors() · Open in ArduPilot Copter-4.7.1