How do I turn off one motor when hovering?


I want to turn off one motor when hovering.
My simulation scenario is to create a situation when the motor is turned off during flight.
Please give me some direction.


Apply this PR

Thanks for your help.
But in that repo, the ardupilot’s version is lower than my.
It’s ok?

need edit firmware code

Try but you need to fix the compile error

That’s some really interesting failures, I wonder what more can be disabled during flight like baro etc and if there’s way to make IMU/accelerometer/gyro noisy or disturb during flight so it can have adverse effects on position and altitude estimations

@amilcarlucas is there any way to freeze EKF estimations somehow which will not impact the flight and keep the quadcopter hovering in air with its previous updated values ?