Quadcopter 3.4-dev Throw mode error

Hi Randy

As i commented on your throw mode video.
I am having issues with my copter not starting motors in throw mode.

Let me explain my steps.
lay craft on the floor > Connect battery > wait for 10 satellites > activate throw mode > arm with throttle stick and rudder > confirm sound > pick up quad > throw > in the air the musical tone stops > catch the drone > lay drone on the floor > stabilize mode > motors start spinning > disarm.

i tried to toss the quad 3 times during this log all of them right after each other.

Really hope you ca find out whats happening


You are using a version from master which is more susceptible to contain bugs.

Looking at the log I can see that throw is detected and what fails is that it can’t reach the desired height. I’m not an expert in this area but I would say that happens because your hover throttle (MOT_THST_HOVER) is in an insane 2.252657 value. That probably happened because we know learn the hover value and there is a bug, which we are aware, that causes it.

If you really intend to continue using the master version, set the MOT_THST_HOVER to a more reasonable value (it should be between 0.25 and 0.8 and the default is 0.5) and disable MOT_HOVER_LEARN (set it to 0).

I don’t know if it’s related but I’ve found some issues in master with Throw mode. In particular it was not setting the motor spool state correctly (this spool state is something new in Copter-3.4). I’ve corrected the issues (I think) and tested it today and these changes will go out with Copter-3.4 including additional logging to help us get to the bottom more quickly of any failed throws.
Thanks for the report!
video of tests: https://www.youtube.com/watch?v=ZnEFcJx1qko
pull request of changes: https://github.com/ArduPilot/ardupilot/pull/4592

Love the first drop test, that’s hilarious :slight_smile:

Just wondering if someone can help me out, Ive uploaded the new 3.4 rc5 to my pixhawk via mission planner but there is no throw in the flight mode sections can someone shed any light on this? Ive got 2 pixhawk boards and both are the same.