I am currently having an issue where the MOT_SPOOL_TIME is not working as expected when the drone is disarmed. Based on the description, it is mentioned that
Time in seconds to spool up the motors from zero to min throttle
meanwhile there is another parameter which is MOT_SPOOL_TIME_DN which is from min to zero throttle instead as seen in the screenshot below.
I have at the moment set it up with the following parameters:
Test 1
Parameter setup
- MOT_SPOOL_TIME = 2.0s
- MOT_SPOOL_TIME_DN = 0.0s
Results
As seen in the plot above, you can see that it indeed takes 2 seconds for the motor to spool from zero to minimum throttle. However, as seen in the next image, for spooling down the motor, it takes 0.5s instead, which is not as expected. Instead of being 2.0s, which is the expected behaviour, it still defaults to 0.5s in this case. I have attached the .tlog below.
tlog file
2025-02-26 14-50-27.tlog (158.9 KB)
Test 2
Parameter setup
- MOT_SPOOL_TIME = 2.0s
- MOT_SPOOL_TIME_DN = 2.0s
Results
As seen in the image below, again, the motor spool up is working as expected with a duration of 2.0s.
However, the motor spool down is incorrect where it is still on its default 0.5s.
tlog file
2025-02-26 15-21-52.tlog (160.0 KB)
I believe this seems to be a bug in the latest ArduCopter? The following tests have been done on v4.5.7 and v4.7.0-dev and both shows similar results.