Battery Failsafe & GPS problem FW 3.2 Release

ArduCopter Copter 3.2
1

Did Battery Failsafe Change in FW 3.2? i seem to be hitting battery failsafe after 2-4 minutes of flight on New 11.1 8000mAh batteries where when using 3.1.5 and the earliest versions of 3.2 RC 7-10 i didnt hit a failsafe. only after RC13 and the New release 3.2, do i seem to be hitting failsafe consistently on several batteries, two of which i KNOW are new. maybe i just dont have it set right? These are my Current params

#NOTE: BumbleBee
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_EXPO,0.3
ACRO_RP_P,4.5
ACRO_TRAINER,2
ACRO_YAW_P,4.5
AHRS_COMP_BETA,0.1
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.1
AHRS_TRIM_X,0.009095703
AHRS_TRIM_Y,0.05470413
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.1
ANGLE_MAX,4500
ARMING_CHECK,1
ATC_ACCEL_RP_MAX,0
ATC_ACCEL_Y_MAX,0
ATC_RATE_FF_ENAB,0
ATC_RATE_RP_MAX,18000
ATC_RATE_Y_MAX,9000
ATC_SLEW_YAW,1000
BAROGLTCH_ACCEL,1500
BAROGLTCH_DIST,500
BAROGLTCH_ENABLE,1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,11.1
BATT_CAPACITY,8000
BATT_CURR_PIN,12
BATT_MONITOR,3
BATT_VOLT_MULT,10.26934
BATT_VOLT_PIN,13
BATT_VOLT2_MULT,1
BATT_VOLT2_PIN,-1
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPT,0
CH8_OPT,0
CIRCLE_RADIUS,350
CIRCLE_RATE,20
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOTCT,0
COMPASS_OFS_X,-30
COMPASS_OFS_Y,17
COMPASS_OFS_Z,25
COMPASS_ORIENT,8
COMPASS_USE,1
EKF_CHECK_THRESH,0.8
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,1
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TYPE,3
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,16
FLTMODE3,3
FLTMODE4,7
FLTMODE5,5
FLTMODE6,6
FRAME,1
FS_BATT_ENABLE,2
FS_BATT_MAH,1600
FS_BATT_VOLTAGE,9.6
FS_GCS_ENABLE,0
FS_GPS_ENABLE,1
FS_THR_ENABLE,1
FS_THR_VALUE,910
GND_ABS_PRESS,102582.9
GND_ALT_OFFSET,0
GND_TEMP,28.41965
GPS_HDOP_GOOD,400
GPS_NAVFILTER,8
GPS_TYPE,1
GPSGLITCH_ACCEL,1000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200
HLD_LAT_P,1
INAV_TC_XY,2.5
INAV_TC_Z,5
INS_ACCOFFS_X,-0.01398996
INS_ACCOFFS_Y,0.01046601
INS_ACCOFFS_Z,-0.3351268
INS_ACCSCAL_X,0.996128
INS_ACCSCAL_Y,0.9967447
INS_ACCSCAL_Z,0.9865701
INS_GYROFFS_X,0.008585591
INS_GYROFFS_Y,0.008886233
INS_GYROFFS_Z,0.01370715
INS_MPU6K_FILTER,20
INS_PRODUCT_ID,88
LAND_REPOSITION,1
LAND_SPEED,50
LOG_BITMASK,958
LOITER_LAT_D,0
LOITER_LAT_I,0.5
LOITER_LAT_IMAX,1000
LOITER_LAT_P,1
LOITER_LON_D,0
LOITER_LON_I,0.5
LOITER_LON_IMAX,1000
LOITER_LON_P,1
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,9000
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,9000
MNT_ANGMIN_PAN,-9000
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,0
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,3
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,6
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,1
MNT_STAB_TILT,1
MOT_SPIN_ARMED,0
MOT_TCRV_ENABLE,1
MOT_TCRV_MAXPCT,93
MOT_TCRV_MIDPCT,52
OF_PIT_D,0.12
OF_PIT_I,0.5
OF_PIT_IMAX,100
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,0.5
OF_RLL_IMAX,100
OF_RLL_P,2.5
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_VELZ_MAX,500
POSCON_THR_HOVER,498
RATE_PIT_D,0.004
RATE_PIT_I,0.125
RATE_PIT_IMAX,1000
RATE_PIT_P,0.125
RATE_RLL_D,0.015
RATE_RLL_I,0.25
RATE_RLL_IMAX,1000
RATE_RLL_P,0.25
RATE_YAW_D,0
RATE_YAW_I,0.02
RATE_YAW_IMAX,1000
RATE_YAW_P,0.2
RC_FEEL_RP,100
RC_SPEED,490
RC1_DZ,30
RC1_MAX,2011
RC1_MIN,988
RC1_REV,1
RC1_TRIM,1499
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,2013
RC10_MIN,988
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,7
RC11_MAX,2011
RC11_MIN,988
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,30
RC2_MAX,2011
RC2_MIN,987
RC2_REV,1
RC2_TRIM,1499
RC3_DZ,30
RC3_MAX,2011
RC3_MIN,987
RC3_REV,1
RC3_TRIM,993
RC4_DZ,40
RC4_MAX,2010
RC4_MIN,988
RC4_REV,1
RC4_TRIM,1495
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,2011
RC5_MIN,983
RC5_REV,1
RC5_TRIM,988
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1819
RC6_MIN,987
RC6_REV,1
RC6_TRIM,1816
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1502
RC7_MIN,1495
RC7_REV,1
RC7_TRIM,1499
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1500
RC8_MIN,1499
RC8_REV,1
RC8_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_PIN,13
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_FUNCTION,0
RNGFND_GAIN,0.8
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_PIN,-1
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE_MS,0
RNGFND_STOP_PIN,-1
RNGFND_TYPE,0
RNGFND2_FUNCTION,0
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_PIN,-1
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE_M,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RSSI_PIN,-1
RSSI_RANGE,5
RTL_ALT,0
RTL_ALT_FINAL,0
RTL_LOIT_TIME,5000
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SIMPLE,0
SR0_EXT_STAT,0
SR0_EXTRA1,0
SR0_EXTRA2,0
SR0_EXTRA3,0
SR0_PARAMS,10
SR0_POSITION,0
SR0_RAW_CTRL,0
SR0_RAW_SENS,0
SR0_RC_CHAN,0
SR1_EXT_STAT,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_PARAMS,0
SR1_POSITION,0
SR1_RAW_CTRL,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
STB_PIT_P,6
STB_RLL_P,6
STB_YAW_P,4.5
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ACCEL_D,0
THR_ACCEL_I,1.3
THR_ACCEL_IMAX,800
THR_ACCEL_P,0.65
THR_ALT_P,1.1
THR_DZ,100
THR_MAX,1000
THR_MID,550
THR_MIN,100
THR_RATE_P,6
TRIM_THROTTLE,498
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WP_YAW_BEHAVIOR,1
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_LOIT_JERK,1000
WPNAV_LOIT_SPEED,500
WPNAV_RADIUS,200
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250

2

This strange, but a log file would certainly help more.
Your params seems ok. If you had a current sensor it would be useful to understand consumption.

Emile

3

@themightythor,
Next time please attach your full parameter list as a .param file to help conserve post space.
Yes, a tlog and/or data flash log will be much better at helping to troubleshoot your issue.
Regards,
TCIII GM

4

Next time i will do that, so sorry about that. attached is my logs and the analyzer report from two flights. the aircraft was only up about 3 meters maybe 4 because i was testing the new FW. i have seen this happen before on an identical X650. i believe i may not have set up the battery monitor correctly. thanks for checking all this out it is greatly appreciated. i had a rollover at the end of this flight but the battery failsafe had already tripped.

this forum doesnt allow text files so this is my analysis file :

Log File C:/Users/theMightyThor/Downloads/MissionPlanner-latest 11082013/logs/QUADROTOR/1/2014-11-30 17-09-44.log
Size (kb) 1355.013671875
No of lines 17501
Duration 0:04:12
Vehicletype ArduCopter
Firmware Version V3.2
Firmware Hash c8e0f3e1
Hardware Type
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD -
Test: Brownout = GOOD -
Test: Compass = GOOD - No MAG data, unable to test mag_field interference

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERRs found: FS_BATT CRASH
Test: GPS = WARN - Min satellites: 7, Max HDop: 3.14
Test: IMU Mismatch = NA -
Test: Parameters = GOOD -
Test: PM = GOOD -
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = WARN - VCC min/max diff 0.313v, should be <0.3v

Log File C:/Users/theMightyThor/Downloads/MissionPlanner-latest 11082013/logs/QUADROTOR/1/BBLogs-Upgrade3.2-11302014/2014-10-19 13-58-40.log
Size (kb) 2178.0498046875
No of lines 29319
Duration 0:06:38
Vehicletype ArduCopter
Firmware Version V3.2-rc12
Firmware Hash 6537432b
Hardware Type
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD -
Test: Brownout = GOOD -
Test: Compass = GOOD - No MAG data, unable to test mag_field interference

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERR found: FS_BATT
Test: GPS = GOOD -
Test: IMU Mismatch = NA -
Test: Parameters = GOOD -
Test: PM = GOOD -
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = WARN - VCC min/max diff 0.333v, should be <0.3v

5

Just some other notes about this quad. it has an 8000 mAh battery, my reserve was set at 20% or 1600mAh and failsafe voltage setting was 9.6. it flew a TOTAL of about 3-4 minutes, its an X650 XAircraft with 14" props and 380KV T-Motors. i have the 3DR power Module on both X650’s.

6

I would say something is probably wrong with your battery. It starts off at 12.6V, normal for a 3S. But as soon as you apply power, it drops immediately to 10.5V. Later on, you cut power, and it rises back up to 12.2V. Then you reapply power and it’s back down to 10.0V. Then a couple minutes later, it hits 9.6V.

This would not be a problem with the code, but your battery. Seems it’s having a problem supplying the power your copter is requesting.

7

Hey Rob
thanks for the answer. I have found that I didn’t set my battery monitor up correctly. The battery is brand new. I also have a second brand new battery that did the same thing. Could test last weekend due to weather but I will be testing this week3nd. Thanks again for ur reply!!