<p>Copter stable v3.2.1 is very old. I might look at updating it to a later version (4.0.7?). You can also look for the parameters <code>MOT_SPIN_MIN</code>, <code>MOT_SPIN_ARM</code> and <code>MOT_SPOOL_TIME</code>. These all work together to have the motors spinning just enough to stay on the ground but ready to take off.</p>

CC BY-SA 4.0
2021-08-17T13:09:40.913Z
2021-08-17T13:09:40.913Z
Kevin
<p>When I arm the drone the motors start rotating at some throttle percentage may be (7%) and the drone will automatically disarm after 14sec and again the process repeats after I arm the drone.</p>
<p>After some research, I found that this can be controlled by the parameters like <code>MOT_SPIN_ARMED</code> and <code>THR_MIN</code> but these are not available in the standard parameters list like in the video I saw.</p>
<p>I tried manually resetting the values like setting <code>MOT_SPIN_ARMED</code> to 0 and <code>THR_MIN</code> to 30 then the motors not started spinning when armed but when the throttle is given all motors are not in sync one motor starts at a different throttle level. I also performed all-ESC calibration and everything goes fine. But the motor yet picks up at a different speed. But when I reset the parameters the motors are all in sync as expected.</p>
<p>I'm not sure why I can't find the <code>MOT_SPIN_ARMED</code> in standard params. I'm really troubling with this issue any help is highly appreciated.</p>
<p>Firmware: Copter stable v3.2.1
Arducopter version: 2.8</p>

CC BY-SA 4.0
2021-08-03T13:56:06.693Z
Is the motor immediately spinning at a different throttle, or is it slowly gaining speed as the quad sits armed? The latter is called i-term windup and is absolutely a normal thing (and is addressed in many FAQ's for first-time builders). Do all of the motors behave normally when controlled in passthrough mode (motors tab in betaflight - I'm not experienced with ardupilot)
Brydon Gibson
CC BY-SA 4.0
2021-08-04T14:22:51.083Z
Motors spin immediately right after arming at full throttle (means enough throttle to lift the drone) and continues to move upto 14 seconds and disarms automatically.
Venkatesh Talacheeru
CC BY-SA 4.0
2021-08-04T14:52:47.240Z
Seems like potentially a protocol issue - what ESC are you using and what motor protocol do you have selected?
Brydon Gibson
<quadcopters><troubleshooting><ardupilot>
ArduCopter motor spins at full throttle when armed
Venkatesh Talacheeru
# ArduCopter motor spins at full throttle when armed

(Asked by: username_0 on 2021-07-15)

When I arm the drone the motors start rotating at some throttle percentage may be (7%) and the drone will automatically disarm after 14sec and again the process repeats after I arm the drone.

After some research, I found that this can be controlled by the parameters like `MOT_SPIN_ARMED` and `THR_MIN` but these are not available in the standard parameters list like in the video I saw.

I tried manually resetting the values like setting `MOT_SPIN_ARMED` to 0 and `THR_MIN` to 30 then the motors not started spinning when armed but when the throttle is given all motors are not in sync one motor starts at a different throttle level. I also performed all-ESC calibration and everything goes fine. But the motor yet picks up at a different speed. But when I reset the parameters the motors are all in sync as expected.

I'm not sure why I can't find the `MOT_SPIN_ARMED` in standard params. I'm really troubling with this issue any help is highly appreciated.

Firmware: Copter stable v3.2.1
Arducopter version: 2.8

**Tags:** quadcopters, troubleshooting, ardupilot
> **Comments:**
> **username_1**: Is the motor immediately spinning at a different throttle, or is it slowly gaining speed as the quad sits armed? The latter is called i-term windup and is absolutely a normal thing (and is addressed in many FAQ's for first-time builders). Do all of the motors behave normally when controlled in passthrough mode (motors tab in betaflight - I'm not experienced with ardupilot)  
> **username_0**: Motors spin immediately right after arming at full throttle (means enough throttle to lift the drone) and continues to move upto 14 seconds and disarms automatically.  
> **username_1**: Seems like potentially a protocol issue - what ESC are you using and what motor protocol do you have selected?  

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## 1 answers

### Answer by username_2 on 2021-08-17. Score: 1

Copter stable v3.2.1 is very old. I might look at updating it to a later version (4.0.7?). You can also look for the parameters `MOT_SPIN_MIN`, `MOT_SPIN_ARM` and `MOT_SPOOL_TIME`. These all work together to have the motors spinning just enough to stay on the ground but ready to take off.


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