4.7:29052/QPlane Takeoff RPM

Author: Hwurzburg

common/source/docs/common-advanced-configuration.rst

@@ -48,6 +48,9 @@ tuning options for the vehicle.
 [/site]
 [site wiki="plane"]
     Crash Detection <crash-detect>
+[/site]
+[site wiki="plane,copter"]
+    Damaged Motor/Prop RPM Checks <common-tkoff-rpm-min>
 [/site]
     DisplayPort <common-displayport>
     DroneCAN Setup <common-uavcan-setup-advanced>

common/source/docs/common-tkoff-rpm-min.rst

@@ -0,0 +1,13 @@
+.. _common-tkoff-rpm-min:
+
+=====================================
+Damaged Motor/Prop Takeoff Prevention
+=====================================
+
+Ardupilot provides mechanism to prevent flips on takeoff if a motor, or motors, is not operating at a minimum rpm due to damage. It requires that ESC RPM telemetry is being used. See the ``ESC Telemetry - Average Motor RPM`` section of :ref:`common-rpm` for setup.
+
+Setting the :ref:`TKOFF_RPM_MIN<TKOFF_RPM_MIN>` slightly below the :ref:`MOT_SPIN_ARM <MOT_SPIN_ARM>`, if the average rpm is lower than this, throttle increases will not be passed on, preventing a takeoff and an immediate flip.
+
+The :ref:`TKOFF_RPM_MAX <TKOFF_RPM_MAX>` parameter can also be used to assure that a propeller is not missing or loose.
+
+[copywiki destination="plane,copter"]

copter/source/docs/ac_tipsfornewpilots.rst

@@ -69,12 +69,12 @@ Tips for your first flights
 Warning about low batteries
 ===========================
 
-When flying Copter, you need to keep in mind that it flies much
+When flying a VTOL vehicle, you need to keep in mind that it flies much
 differently than a winged airplane. In an airplane, lift is generated by
 the wing and you still have control surfaces for maneuvering if the
-motor were to stop. Multicopters generate lift solely from the thrust of
+motor were to stop. QuadPlanes and Multicopters generate lift solely from the thrust of
 the motors, so if your battery is excessively depleted, you have no lift
-and no control over your Copter, and it may flip over and crash without
+and no control over your vehicle, and it may flip over and crash without
 a gradual warning. During first flights, fly only short durations until
 you know your battery consumption and use one of the following batteries
 monitoring methods to ensure that you always have enough power remaining
@@ -129,3 +129,7 @@ to safely land your copter (and not ruin the battery).
    If you are using a battery monitor, always connect the main LiPo
    battery wire before connecting the balancing port wire to the
    APM.
+
+Motors RPM Check
+================
+In modes where the vehicle takes off controlling the throttle itself (like AUTO, LOITER, QLOITER, ALTHOLD, etc.), , and ESC telemetry is employed, the :ref:`TKOFF_RPM_MIN <TKOFF_RPM_MIN>` and :ref:`TKOFF_RPM_MAX <TKOFF_RPM_MAX>` are monitored during the motor ramp up. See :ref:`common-tkoff-rpm-min`.

copter/source/docs/failsafe-landing-page.rst

@@ -19,7 +19,6 @@ The main failsafe topics are listed below.
     EKF Failsafe <ekf-inav-failsafe>
     Dead Reckoning Failsafe <deadreckoning-failsafe>
     Vibration Failsafe <vibration-failsafe>
-    Dead Motor Takeoff Prevention <tkoff-rpm-min>
     Terrain Data Loss Failsafe (see section on loss of terrain data induced RTL) <terrain-following>
     Crash Check <crash_check>
     Parachute <common-parachute>

copter/source/docs/tkoff-rpm-min.rst

@@ -9,6 +9,7 @@ them they need to receive maximum PWM input when initially powered on,
 then receive minimum PWM input when they have beeped to indicate that
 the maximum has registered.
 
+.. note:: if ESC RPM telemetry is being used, the :ref:`TKOFF_RPM_MIN <TKOFF_RPM_MIN>` parameter could be set slightly below the :ref:`Q_M_SPIN_ARM <Q_M_SPIN_ARM>` parameter to prevent takeoff attempts, and subsequent flips on takeoff, if one or more motors are not spinning.
 
 .. warning::
    You must remove all propellers from your vehicle before doing any