I use RC CH5 channel to arm the motor
When the copter is armed, there will be a 3-second delay for the motor to start. How to disable this setting? Why did the engineer add this delay? Is there any special significance?
At that time, in actual use, it would cause misjudgment, and when I walked over, it suddenly turned the motor.
EDIT: I was incorrect. See below.
If there is an undue delay (longer than 2-3 seconds), check that MOT_SPIN_ARM is set appropriately high enough to get the props to spin reliably.
I think there is an intentional delay of ARMING_DELAY_SEC = 2 defined in ArduCopter/config.h
And it’s interesting to note that the wiki says the buzzer warning for arming is 3 seconds long.
I spoke too soon. I think the delay may be to account for rudder arming and/or to give some brief moment between an arming beep/annunciation and actual prop motion to afford an unsuspecting person the opportunity to get out of the way.
In terms of personal safety, it isn’t enough to simply approach when the props are not spinning. You should check that all switches are safe, and, if there is a telemetry display available, that it shows disarmed. Even then, a bit of firearms-like safety mentality should apply. If the battery is connected, treat the props as if they could spin at any time.
But there is no such setting option.
Delaying the start of the motor can indeed be useful when there are other ways (such as sound or light) to indicate the status of the arm. But for situations where only the rotation of the motor can be observed to determine the armed status. The
lever arm and propeller should be synchronized, otherwise it is very uncomfortable:)
I guess it’s assumed that you have a buzzer… ARMING_DELAY_SEC is a compile-time value and there is no user-settable parameter.
@Yuri_Rage ARMING_DELAY_SEC is also unique to ArduCopter, being used only in ArduCopter/motors.cpp
Thanks @kd0aij. I did a little code review of my own after my initial response and edited my posts appropriately. Appreciate the pointout!
I understand, but I’m not sure I agree. It’s a safety feature for good reason. Your lack of any audio/visual arming indication probably shouldn’t necessitate a code change on AP’s part. Rather, it should drive a minor change to your design to take advantage of the safety feature as it is.
I’m not gonna die on that hill, but that’s how I see it today.
I have video equipment. However, for flying, I prefer to directly observe whether the four motors can rotate normally. Only when all motors are rotating normally will the gaze return to the imaging device.
I didn’t mean video equipment but rather a buzzer or LED to indicate arming state.
If you’re using DSHOT ESCs, you can enable a warning sound via NTF_BUZZ_TYPES=2, which will make the motors buzz before spinning.
define this in hwdef file, build the binary, and update apj.
define ARMING_DELAY_SEC 0