MultiRotor : (on landings and) after disarm the QUAD tilts over instead of cutting down the motors

[Pairan]

Current Behavior

The 7" Quad is flashed with regular INAV 6 and since then has changed dramatically in behaviour after disarming as after landing properly. I looks like the quad doesnt figure that it has been disarmed and tries to compensate ( ... and overshoots).

Mostly it flips over and the props spin aggressively for 1-2secs ... and a such most likely kill the props.

I didn't tune the rates or such. The defaults for a 7" quad was applied and nothing more (but flight modes and adjustment options for in-flight and such).

Steps to Reproduce

1. Launch the quad
2. decide to land
3. try to disarm near the ground
4. hope that it goes well (this time)

Expected behavior

After disarm I would have expected to simply shut everything down and DO NOTHING more than this.

Suggested solution(s)

Simply shut down motors on DISARM as it used to be ...

Additional context

I had think I also had it with INAV6 RC2 but I took it as me beeing clumsy on landings -.- But as it now happened several times yesterday I thought of reporting back in. Can anybody confirm this behaviour ?

• FC Board name and vendor: MAMBAH743_2022B from DIATONE
• INAV version string: latest INAV 6 (084101a)

[breadoven]

What reason does it give for the disarm, Switch or Landing ? Do you let the quad actually settle on the ground for 1-2s before disarming or try and disarm the moment it touches the ground or slightly before even ?

[Pairan]

I want to land- not to disarm at 1m alt and let it fall into the dirt. And even in that height it would Tipp over and not simply shut down.

Only way to land properly for now is to grab the quad and disarm. Everything else will risk to spoil the gear

i still assume that disarm should simply switch off everything- and not try to balance things out

[Jetrell]

@Pairan Can you leave your Diff All settings? And what flight mode were you in when you disarmed.

Can you clarify, from both your posts.. I'm wasn't sure which one it is.. Disarming near the ground, or landing then disarming, which was causing the issue ?

try to disarm near the ground

I want to land- not to disarm at 1m alt

[Pairan]

The effect is the SAME on both landing and disarming near ground or just disarming! The thing is that the disarm doesn't cut the motors immediately and then tries to balance the movement after that.
Hard to describe ... guess I'll make a video of it later today to make the effect clear

Diff coming up:

# version
# INAV/MAMBAH743_2022B 6.0.0 Mar 22 2023 / 10:11:50 (084101ac)
# GCC-10.2.1 20201103 (release)

# Mixer: motor mixer
mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# features
feature -TX_PROF_SEL
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper -RUNTIME_CALIBRATION
beeper -ON_USB

# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

# Receiver: Channel map
map ERTA

# Ports
serial 1 2 115200 115200 0 115200
serial 2 33554432 115200 115200 0 115200
serial 3 0 115200 115200 0 115200

# Modes [aux]
aux 0 0 0 1500 2100
aux 1 2 1 1475 2100
aux 2 11 1 1125 1250
aux 3 10 1 1375 1475
aux 4 42 2 1100 1325
aux 5 43 2 1325 1675
aux 6 44 2 1675 2100
aux 7 13 4 1800 2100
aux 8 26 0 1700 2100
aux 9 27 1 1400 1475
aux 10 47 6 1600 2100

# Adjustments [adjrange]
adjrange 0 0 5 1125 1275 14 3
adjrange 1 0 5 1275 1425 15 3
adjrange 2 0 5 1400 1550 16 3
adjrange 3 0 5 1575 1750 10 3
adjrange 4 0 5 1700 1875 11 3
adjrange 5 0 5 1850 2025 12 3

# OSD [osd_layout]
osd_layout 0 0 13 10 H
osd_layout 0 1 2 15 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 46 4 V
osd_layout 0 8 9 14 H
osd_layout 0 9 23 14 H
osd_layout 0 10 1 1 H
osd_layout 0 11 3 17 V
osd_layout 0 12 2 16 V
osd_layout 0 13 2 7 H
osd_layout 0 14 46 0 V
osd_layout 0 15 23 6 H
osd_layout 0 22 7 0 V
osd_layout 0 23 2 0 V
osd_layout 0 24 23 1 V
osd_layout 0 26 46 10 V
osd_layout 0 28 45 17 V
osd_layout 0 29 23 9 H
osd_layout 0 30 13 15 V
osd_layout 0 31 42 0 V
osd_layout 0 32 2 14 V
osd_layout 0 33 46 18 V
osd_layout 0 34 21 0 V
osd_layout 0 38 1 8 H
osd_layout 0 40 2 1 V
osd_layout 0 46 23 6 H
osd_layout 0 47 22 9 H
osd_layout 0 80 2 14 H
osd_layout 0 85 2 9 V
osd_layout 0 87 2 2 V
osd_layout 0 96 45 9 V
osd_layout 0 97 10 13 H
osd_layout 0 105 37 1 H
osd_layout 0 109 44 3 V
osd_layout 0 110 44 1 V
osd_layout 0 111 25 9 H
osd_layout 0 112 38 1 V
osd_layout 1 1 1 14 V
osd_layout 1 11 2 13 V
osd_layout 1 15 24 2 V
osd_layout 1 22 6 1 V
osd_layout 1 23 1 1 V
osd_layout 1 30 1 10 V
osd_layout 1 31 1 14 H
osd_layout 1 35 22 13 H
osd_layout 1 48 1 11 H
osd_layout 1 49 1 12 H
osd_layout 1 98 23 1 H
osd_layout 1 99 25 3 H
osd_layout 1 109 24 12 H
osd_layout 1 110 24 11 H
osd_layout 1 111 25 9 H
osd_layout 1 112 25 10 H
osd_layout 2 2 0 0 V
osd_layout 2 3 8 6 V
osd_layout 2 7 24 1 V
osd_layout 2 15 1 1 V
osd_layout 2 16 1 1 H
osd_layout 2 22 23 1 V
osd_layout 2 26 6 1 V
osd_layout 2 41 1 2 H
osd_layout 2 63 1 2 H
osd_layout 2 99 1 3 H
osd_layout 2 109 24 12 H
osd_layout 2 110 24 11 H
osd_layout 2 111 25 9 H
osd_layout 2 112 25 10 H
osd_layout 3 1 8 14 V
osd_layout 3 10 2 13 H
osd_layout 3 12 2 14 V
osd_layout 3 16 2 4 V
osd_layout 3 17 2 5 V
osd_layout 3 18 2 6 V
osd_layout 3 20 13 3 H
osd_layout 3 21 13 4 H
osd_layout 3 22 7 1 V
osd_layout 3 23 2 1 V
osd_layout 3 37 9 12 H
osd_layout 3 41 23 3 V
osd_layout 3 42 23 2 V
osd_layout 3 46 22 13 H
osd_layout 3 47 22 11 H
osd_layout 3 56 2 7 V
osd_layout 3 58 2 8 V
osd_layout 3 63 18 12 H
osd_layout 3 81 2 10 V
osd_layout 3 82 2 11 V
osd_layout 3 83 2 12 V
osd_layout 3 97 13 1 V
osd_layout 3 106 2 9 H
osd_layout 3 109 24 12 H
osd_layout 3 110 24 11 H
osd_layout 3 111 25 9 H
osd_layout 3 112 25 10 H

# master
set looptime = 500
set gyro_main_lpf_hz = 90
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = 1
set gyro_zero_y = -4
set gyro_zero_z = 12
set ins_gravity_cmss =  981.126
set acc_hardware = ICM42605
set acczero_x = -4
set acczero_y = 4
set acczero_z = 30
set accgain_x = 4093
set accgain_y = 4092
set accgain_z = 4108
set align_mag = CW90FLIP
set mag_hardware = HMC5883
set magzero_x = 17
set magzero_y = -110
set magzero_z = 29
set maggain_x = 507
set maggain_y = 496
set maggain_z = 470
set baro_hardware = SPL06
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 2000
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = RTH
set current_meter_scale = 80
set current_meter_type = ESC
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set inav_w_z_baro_p =  0.350
set nav_auto_speed = 833
set nav_rth_allow_landing = FS_ONLY
set nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT
set nav_rth_altitude = 6000
set nav_mc_bank_angle = 45
set osd_video_system = AVATAR
set osd_time_alarm = 16
set osd_alt_alarm = 600
set osd_crsf_lq_format = TYPE2
set i2c_speed = 800KHZ
set name = FR7
set stats = ON
set stats_total_time = 14926
set stats_total_dist = 149676
set stats_total_energy = 987519
set tz_offset = 120
set tz_automatic_dst = EU
set vtx_band = 4
set vtx_channel = 6
set vtx_power = 4
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set dshot_beeper_enabled = OFF

# profile
profile 1

set mc_p_pitch = 44
set mc_i_pitch = 80
set mc_d_pitch = 28
set mc_i_roll = 61
set mc_d_roll = 26
set mc_p_yaw = 40
set mc_i_yaw = 80
set dterm_lpf_hz = 80
set dterm_lpf_type = PT3
set mc_iterm_relax = RPY
set d_boost_min =  0.800
set d_boost_max =  1.200
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set smith_predictor_delay =  1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# battery_profile
battery_profile 1

set bat_cells = 6
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 315
set battery_capacity = 4200
set throttle_idle =  5.000

[breadoven]

OK. The reason I asked if the quad reports disarming via Switch or Landing is to understand if you are disarming it via the switch as soon as the quad touches down or if the landing detection is disarming the quad, in which case the cause of the disarm would be given as Landing (there would though be at least a 2s delay after settling on the ground before Landing detection caused a disarm).

I've noticed my quad sometimes flips on disarming via landing detection. Doesn't always do it, but often enough to be irritating. I had a theory as to why this is happening and a possible fix but never got around to testing it. However if this problem is also happening with a normal switched disarm the issue is likely something different. What happens if you raise the throttle after arming to enable airmode, lower the throttle back down and then disarm ?

I notice you're also using an H743 board. That might possibly have something to do with it.

[Pairan]

So far I didn't let INAV time to figure, if we might have landet (landing in Acro) as it uses to wind up and then flips. Will have to check that on some grassy place so it won't kill the props (in case).
Task: Landing by descending and finally lower the thrust : INAV should figure "we" have landed? right?

I land by descending and slowly balancing the ground effect until I disarm. Will try to raise throttle after disarm next time.

Perhaps I report in this evening

[breadoven]

What happens if you raise the throttle after arming to enable airmode, lower the throttle back down and then disarm ?

By this I mean start with the quad disarmed. Then arm, raise the throttle until airmode activates, then fully lower the throttle, then disarm. Do it on a flat surface ideally. Does it still flip ?

[Pairan]

Nope ... I recorded several landings and it didn't flip these times. Sometimes it had a hard time to detect it had landed and winded up some motors BUT then I disarmed and it was okay. Did nine attempts and nothing bad happened.

Guess for now we can close the ticket as I can't get it to do what it did yesterday.

Anyways ... thanks for helping and educating me on this :)

[Pairan]

there‘s still something going on- after Position hold and landing I disarmed and then the quad started to flip and tried to get home! I was 1m away- it didn’t stop although I had tried to disarm several times.

Two props melted due to the heat on the motor shaft, my hand got burned by one motor and I had to rip out the power lead while two motors spinned 100%
My left hand cam to close to a prop and for now it doesn’t hurt- just bleeding and feeling a bit odd.

Guys… perhaps I can pull a log from the h743 but for now I will get back to iNav 5 where disarm stops everything.

[breadoven]

A log would be very useful. Almost sounds as if disarming caused it to Failsafe and RTH. In that case without a Kill switch set up it would be impossible to disarm. Log should confirm if this was the case.

[Pairan]

Sounds reasonable- I will clean up the quad later and see, what I can pull off the memory then

[Pairan]

That's what I pulled of the quad - perhaps it can give any clue

blackbox_log_2023-04-10_194606.TXT.zip

[breadoven]

Well according to the log, 12/12, you simply selected Failsafe mode and RTH mode at the same time since they're both activated by the same switch (as confirmed in the Diff posted above). So the quad tried to RTH because that's what is told to do .... according to the log. However, shortly after selecting Failsafe the log file doesn't seem to record correctly, a few broken records but mainly blank, so something appears a little odd where that is concerned. Not sure why Failsafe and RTH modes are on the same switch given Failsafe is set to RTH anyway. This makes no sense. This is the the second time I've seen this erroneous setup recently. Has it been recommended somewhere ?

And since the log continued to record something it appears it never disarmed. There was no disarm flag at the end of the log file either.