How to configure unlock self-test parameters
1. Principle
Arming is a critical step for ArduPilot firmware to ensure safe aircraft operation.
By default, ArduPilot requires multiple sensor and system self-checks. The flight controller only allows arming after all checks pass, preventing crashes caused by sensor anomalies or hardware failures.
However, the flight platform may not have all devices installed, such as no airspeed sensor, no rangefinder, or no log storage card. Some checks may lead to unnecessary arming failures.
Therefore, we can adjust arming self-check parameters based on actual conditions to ensure safety and rationality.
2. Equipment Preparation
1) Flight Controller: Any of the following flight controllers apply to this tutorial: CoreWing F405 WING V2, SpeedyBee F405 WING APP, or SpeedyBee F405 WING MINI.
2) Ground Station: Mission Planner.
3. Specific Operations
1. Enter Arming Check Parameter Settings
- Enter Configuration/Debug.
- Enter All Parameters.
- Search for ARMING_CHECK.
- Set the desired arming check items.
2. Key Self-Check Item Descriptions
The following are the detection contents corresponding to ARMING_CHECK options; they can be selectively enabled or disabled based on actual equipment.
| Self-Check Item | Description | Recommendation |
|---|---|---|
| Barometer | Check if barometer is normal | Must Enable |
| Compass | Check if compass is normal | Must Enable if using GPS for navigation |
| GPS Lock | Ensure GPS has sufficient satellite lock | Must Enable if using auto mode or RTL |
| INS | Check accelerometer and gyroscope | Must Enable |
| Parameters | Check if flight controller parameters are normal | Recommended |
| RC Channels | Ensure RC channels are normal | Must Enable |
| Board Voltage | Check if flight controller board voltage is normal | Recommended |
| Battery Level | Check battery level | Recommended |
| Airspeed | Airspeed sensor check | Disable if no airspeed sensor |
| Logging Available | Check logging function (if storage card exists) | Disable if no storage card |
| Hardware Safety Switch | Hardware safety switch check | Disable if not present |
| GPS Configuration | GPS configuration check | Disable if GPS is connected normally |
| System | Flight controller system self-check | Must Enable |
| Mission | Mission self-check (waypoint mission) | Disable if no waypoint mission |
| Rangefinder | Rangefinder check | Disable if no rangefinder |
| Camera | Camera module check | Disable if no camera |
| Auxauth | Auxiliary function self-check | Enable as needed |
| FFT | Filter self-check | Enable as needed |
3. Recommended Arming Check Schemes
Scheme 1: Suitable for Daily Flight
Suitable for fixed-wing and VTOL daily flights, ensuring flight safety while avoiding useless self-checks from hindering arming.
- Enabled: Barometer, Compass, GPS Lock, INS, Parameters, RC Channels, Board Voltage, Battery Level, System
- Disabled: Airspeed (if no airspeed sensor), Logging Available (if no storage card), Hardware Safety Switch (if not present)
Scheme 2: Full Self-Check (Highest Safety, Suitable for Mission Drones)
Suitable for long-endurance flights, requiring a complete check of all sensors.
- Enable all options, including Logging Available, Airspeed, Rangefinder, Camera, and GPS Configuration.
4. Q&A
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