来自：Arming Sequence & Safety · betaflight/betaflight Wiki (github.com)
Description of arming prevention flags in BetaFlight Firmware
What each flag means and what you should do to (probably) fix the issue.
This list should be kept up to date with the code in master (armingDisableFlags_e in src/main/fc/runtime_config.h) so can be used to find what flag corresponds to a certain index, however if you run an older version you’d have to check this manually as mentioned above.
| Name | Description | Beep code | Required Actions | |||||
|---|---|---|---|---|---|---|---|---|
| 3.2 | 3.3 | 3.4/3.5 | 4.0 | 4.1 | 4.2+ | |||
NOGYRO |
A gyro was not detected | 1 | 1 | 1 | 1 | 1 | 1 | You may have a hardware failure, if a previous firmware version works then it may be a firmware issue. |
FAILSAFE |
Failsafe is active | 2 | 2 | 2 | 2 | 2 | 2 | Rectify the failure condition and try again. |
RXLOSS(1) |
No valid receiver signal is detected | 3 | 3 | 3 | 3 | 3 | 3 | Your receiver is either faulty or has no link to the transmitter. |
BADRX(1) |
Your receiver has just recovered from receiver failsafe but the arm switch is on | 4 | 4 | 4 | 4 | 4 | 4 | Switch the arm switch off. |
BOXFAILSAFE |
The ‘FAILSAFE’ switch was activated | 5 | 5 | 5 | 5 | 5 | 5 | See FAILSAFE |
RUNAWAY |
Runway Takeoff Prevention has been triggered | 6 | 6 | 6 | 6 | 6 | Disarm to clear this condition. | |
CRASH |
Crash Recovery has been triggered | 7 | 7 | Disarm to clear this condition. | ||||
THROTTLE |
Throttle channel is too high | 6 | 7 | 7 | 7 | 8 | 8 | Lower throttle below min_check. |
ANGLE |
Craft is not level (enough) | 7 | 8 | 8 | 8 | 9 | 9 | Level craft to within small_angle degrees (default 25). |
BOOTGRACE |
Arming too soon after power on | 8 | 9 | 9 | 10 | 10 | 10 | Wait until pwr_on_arm_grace seconds (default 5) have elapsed. |
NOPREARM |
Prearm switch is not activated or prearm has not been toggled after disarm | 9 | 10 | 10 | 10 | 11 | 11 | Toggle the prearm switch. |
LOAD |
System load is too high for safe flight | 10 | 11 | 11 | 11 | 12 | 12 | Revisit configuration and disable features. |
CALIB |
Sensor calibration is still ongoing | 11 | 12 | 12 | 12 | 13 | 13 | Wait for sensor calibration to complete. |
CLI |
CLI is active | 12 | 13 | 13 | 13 | 14 | 14 | Exit the CLI. |
CMS |
CMS (config menu) is Active – over OSD or other display | 13 | 14 | 14 | 14 | 15 | 15 | Exit the CMS (or OSD menu). |
OSD |
OSD menu is active | 14 | 15 | 16 | Exit OSD menu. | |||
BST |
A Black Sheep Telemetry device (TBS Core Pro for example) disarmed and is preventing arming | 15 | 16 | 16 | 15 | 16 | 16 | Refer to the manual for your hardware. |
MSP |
MSP connection is active, probably via Betaflight Configurator | 16 | 17 | 17 | 16 | 17 | 17 | Terminate the Betaflight Configurator connection (disconnect). |
PARALYZE |
Paralyze mode has been activated | 18 | 17 | 18 | 18 | Power cycle/reset FC board. | ||
GPS |
GPS rescue mode is configured but required number of satellites has not been fixed | 19 | 18 | 19 | 19 | Wait for GPS fix, enable arming without GPS fix, or disable GPS rescue mode. | ||
RESCUE_SW |
GPS Rescue switch is in an unsafe position | 19 | 20 | 20 | Turn off the GPS Rescue switch to arm. | |||
RPMFILTER(2) |
Motor RPM-based filtering is not functioning | 21 | 21 | 21 | One or more ESC’s are not supplying valid RPM telemetry. | |||
REBOOT_REQD |
Reboot required | 22 | 22 | Reboot the flight controller for settings changes to take effect. | ||||
DSHOT_BBANG |
DSHOT Bitbang is not working | 23 | 23 | (3) | ||||
NO_ACC_CAL |
Accelerometer calibration required | 24 | Calibrate the accelerometer or disable features that use it | |||||
MOTOR_PROTO |
ESC/Motor Protocol not configured | 25 | Select the ESC/Motor protocol to use on the Configuration tab. | |||||
ARMSWITCH |
Arm switch is in an unsafe position | 17 | 18 | 20 | 21 | 24 | 26 | Toggle the arm switch to arm. |
(1) This may appear on the Betaflight OSD during flight, take it as a sign that your radio system is either faulty or you are flying at the edge of your range. Treat it the same you would an “RSSI critically low” warning.
(2) RPM-based filtering is enabled but one or more ESC’s are not supplying valid DSHOT telemetry. Check that the ESC’s are capable of and have the required firmware installed to support bidirectional DSHOT telemetry.
(3) Bitbang DSHOT is not working properly and the motors can’t be controlled. Likely caused by a timer conflict with other features enabled on the flight controller.
