How do I turn off one motor when hovering?

ArduCopter
1

Hello,

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.

Thanks,

2

Apply this PR https://github.com/matternet/ardupilot/pull/136

3

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

4

need edit firmware code

5

Try https://github.com/ArduPilot/ardupilot/pull/15965 but you need to fix the compile error

6

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

7

@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 ?