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Unable to change FlightMode when armed

Hi there,

I have a Pixhawk 2.1 with a here GPS.
My problem is that I cannot change the flightmode to AltHold or Loiter when the Copter is armed.
When it’s disarmed it works fine. Taking off in Stabilize works, but i cannot switch to another flight mode.
I always get the failure message “Unable to change flight mode” in Mission Planner.

128 01.01.1980 01-00-00.bin (256 KB)

In the log it says
EV_FLIGHT_MODE-2 (When i switch to ALTHold for instance)
and
EV: Data_EKF_ALT_RESET
and
EV: DATA_ARMED
all at the same time.

Googling the error codes did not help me out.

Does anyone know how to work with this issue?

Thanks,
Walter

What do you have set for your H_RSC_RUNUP_TIME parameter?

-Chris

Hi,

This parameter is set to 10.
What does it do?

Thanks, Walter

It’s a timer to prevent you from switching flight modes until the rotor is up to speed.
Have you tried waiting 10 seconds and then switching fight modes?

10 seconds seems reasonable for an electric helicopter. I have mine set for 25 seconds for a 2 stroke gas engine helicopter.

That was it,
Thank you :slight_smile:

Best,
Walter

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