I have a hexarotor and used flight termination along with attitude failure detection for my test flights. A slight problem I always had with this, is that after flight termination, the motors kept spinning at a very low speed, even below the set minimum level (see video below). I have the following PWM values for my motors:
Disarmed: 1000
Minimum: 1100
Maximum: 1900
So far I tried a few things, like different failsafe values for the motors. But even values of 900, 0 or even -1 (so disabled) don’t resolve the problem. Has anybody experienced similar behavior or knows how to resolve it?
I wonder if this is a Oneshot specific problem, or general. Have you tried with PWM? If it works correctly with PWM, then we have to have a closer look at the oneshot driver. And is this on FMU or IO ports?
I haven’t ried with PWM yet, but I will do so as soon as I can.
Motors are connected to the I/O ports, because I’m using some of the Aux passthrough channels from the FMU.
@JulianOes I just had some time to do a test with PWM 400 Hz. The motors fully stopped as I’d expect them to. Surprisingly, to me, the motor outputs in flight review don’t go to zero as well:
Another thing I observed during previous tests, which might be useful, is that if I activate the kill switch and attitude failure triggers after that, the motors spin like in the video. So the failsafe overrides the kill switch in that case.
That’s with OneShot. I didn’t test this behaviour for PWM, but since normal flight term seems to behave properly with it, I expect it to also work in that case.
