How to set up lock and unlock
一、原理
ArduPilot supports two common arming/disarming methods:
1. Rudder Arming (Rudder Arming)
2. Switch Arming (Switch Arming)
Arming refers to the state where the flight controller allows motors to start, while disarming enters a safe mode that prohibits motor operation. To ensure flight safety, the flight controller performs safety checks before arming. If an anomaly is detected, arming will not be allowed, and error messages will be displayed on the ground control station (Mission Planner) or OSD.
二、设备准备
1) Flight Controller: Any of the SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI / CoreWing F405 WING V2 flight controllers are applicable to this tutorial.
2) RC Transmitter and Receiver: Taking RadioMaster Boxer and SpeedyBee ELRS NANO as examples.
3) Ground Control Station: Mission Planner.
三、具体操作
Method 1: Using Rudder Arming/Disarming
1. Ground Station Setup
Go to Config/Debug
Go to All Parameters
Search for ARMING_RUDDER
Set the value of ARMING_RUDDER to 2
Click Write Parameters
2. Operation Method
1. Arming:
Throttle stick at the lowest position
Roll/Pitch stick in the center position
Rudder stick pushed to maximum (right)
Hold for 1 second
Ground station or OSD showing "Armed" indicates successful arming
2. Disarming:
Throttle stick at the lowest position
Rudder stick pushed to minimum (left)
Roll/Pitch stick in the center position
Hold for 1 second
Ground station or OSD showing "Disarmed" indicates successful disarming
Method 2: Using RC Switch Arming/Disarming
1. RC Transmitter Setup
Select a 2-position switch
Navigate to the MDL/MIXES page and configure the mix to
CH5
2. Ground Station Setup
Go to Config/Debug
Go to All Parameters
Search for RC5_OPTION
Set the value of RC5_OPTION to
153Click Write Parameters
To disable Rudder Arming/Disarming, please follow these steps:
Go to Config/Debug
Go to All Parameters
Search for ARMING_RUDDER
Set the value of ARMING_RUDDER to 0
Click Write Parameters
3. Operation Method
Toggle the arming switch
Ground station or OSD showing "Armed" indicates successful arming
4. Safety Check Mechanism
Before arming, the flight controller performs pre-flight safety checks to ensure all arming conditions are met. If arming fails, error messages will be displayed on the Ground Station Messages page or OSD:
Common causes include (constantly updated):
| Error Message | Possible Cause | Solution |
|---|---|---|
| PreArm: RC not calibrated | RC not calibrated | Recalibrate RC transmitter |
| PreArm: GPS lock required | GPS lock required | Wait for GPS connection (at least 6 satellites) |
| PreArm: Compass not calibrated | Compass not calibrated | Enter Mission Planner to calibrate compass |
| PreArm: Battery failsafe | Battery failsafe | Check battery status and charge |
Important
How to set up self-check items can be referenced in this article: https://docs.corewing.com/plane/ardupilot/settings/fc/prearm-check-setup.html
四、Q&A
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