diff --git a/common/source/docs/common-prearm-safety-checks.rst b/common/source/docs/common-prearm-safety-checks.rst index 64647373b14..4dc2d51fcda 100644 --- a/common/source/docs/common-prearm-safety-checks.rst +++ b/common/source/docs/common-prearm-safety-checks.rst @@ -233,7 +233,7 @@ Pre-arm checks that are failing will also be sent as messages to the GCS while d Bad parameter: ATC_ANG_PIT_P must be > 0 Attitude controller misconfiguration Increase specified parameter value to be above zero. See :ref:`Tuning Process Instructions` Bad parameter: PSC_POSXY_P must be > 0 Position controller misconfiguration Increase specified parameter value to be above zero. See :ref:`Tuning Process Instructions` Battery failsafe Battery failsafe has triggered Plug in battery and check its voltage and capacity. See ref:`battery failsafe configuration ` - Check ACRO_BAL_ROLL/PITCH ACRO_BAL_ROLL or ACRO_BAL_PITCH too high Reduce :ref:`ACRO_BAL_ROLL` below :ref:`ATC_ANG_RLL_P` and/or :ref:`ACRO_BAL_PITCH` below :ref:`ATC_ANG_PIT_P`. See :ref:`Acro mode` + Check ACRO_BAL_ROLL/PITCH ACRO_BAL_ROLL, ACRO_BAL_PITCH negative or too high Change :ref:`ACRO_BAL_ROLL` to between 0 and :ref:`ATC_ANG_RLL_P` and/or :ref:`ACRO_BAL_PITCH` between 0 and :ref:`ATC_ANG_PIT_P`. See :ref:`Acro mode` Check ANGLE_MAX ANGLE_MAX set too high Reduce :ref:`ANGLE_MAX` to 8000 (e.g. 80 degrees) or lower Check FS_THR_VALUE RC failsafe misconfiguration Set :ref:`FS_THR_VALUE` between 910 and RC throttle's min (e.g :ref:`RC3_MIN`. See ref:`battery failsafe configuration ` Check PILOT_SPEED_UP PILOT_SPEED_UP set too low Increase :ref:`PILOT_SPEED_UP` to a positive number (e.g. 100 = 1m/s). See :ref:`AltHold mode`