Betaflight has spoiled me. When I flick the arm switch there, the motors spin up immediately. It’s much more crisp and responsive-feeling than ardupilot’s “I’ll arm when I feel like it”~esque 2 second delay approach.
I have the same issue as this guy:
I get that if you’re running a big hexacopter with like 15 inch props, you want there to be a nice loud beep followed by the motors spinning after a delay. That’s safe and 100% makes sense. But it also makes sense for a little 2.5" with ducted props running in acro mode to have a snappier response. Before finding that thread I had thought there was a problem with my setup.
My point is that it should be up to the user to decide how they want their vehicle to behave.
Currently it seems like that in order to accomplish what I am attempting, I need to edit a HWDEF.dat file and and then what I don’t know.
After reading these it isn’t clear to me how to edit the hwdef.dat file and put it on the FC.
For example I could copy the contents of the hwdef.dat file from github into a .txt file, add the line “define ARMING_DELAY_SEC 0” as line 161. But after that I’m lost as to how to get that on the quad. Similarly, I can see the line:
“#define ARM_DELAY 20 // called at 10hz so 2 seconds” at ardupilot/ArduCopter/motors.cpp at ArduPilot-4.6 · ArduPilot/ardupilot · GitHub
and that looks like something that a knowledgeable person could edit. But I am not a knowledgable person.
So far all I’ve been able to do is take MOT_SAFE_TIME and set it from “1” to “0.25” and also set MOT_SPOOL_TIME from “0.5” to “0.125”. This shaves a little time off the arming delay, but not as much as I would like.
Please tell me there’s a detailed wiki article on how to do what I’m trying to accomplish. I’d rather learn I’m just bad at finding things than that what I’m trying to do isn’t supported.