{"action":"closed","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/6403","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/6403/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/6403/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/6403/events","html_url":"https://github.com/betaflight/betaflight/issues/6403","id":342931597,"node_id":"MDU6SXNzdWUzNDI5MzE1OTc=","number":6403,"title":"Crashes caused by motor No. 4 on BeeRotor F3 hexacopters ","user":{"login":"andrejpodzimek","id":947737,"node_id":"MDQ6VXNlcjk0NzczNw==","avatar_url":"https://avatars0.githubusercontent.com/u/947737?v=4","gravatar_id":"","url":"https://api.github.com/users/andrejpodzimek","html_url":"https://github.com/andrejpodzimek","followers_url":"https://api.github.com/users/andrejpodzimek/followers","following_url":"https://api.github.com/users/andrejpodzimek/following{/other_user}","gists_url":"https://api.github.com/users/andrejpodzimek/gists{/gist_id}","starred_url":"https://api.github.com/users/andrejpodzimek/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/andrejpodzimek/subscriptions","organizations_url":"https://api.github.com/users/andrejpodzimek/orgs","repos_url":"https://api.github.com/users/andrejpodzimek/repos","events_url":"https://api.github.com/users/andrejpodzimek/events{/privacy}","received_events_url":"https://api.github.com/users/andrejpodzimek/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-07-20T00:18:50Z","updated_at":"2018-07-21T18:45:48Z","closed_at":"2018-07-21T18:45:48Z","author_association":"NONE","body":"I thought this was related to #6136, so I posted everything [in this comment](https://github.com/betaflight/betaflight/issues/6136#issuecomment-406444701):\r\n\r\n> Sadly, I also have a severe and dangerous issue also with DShot 600 on 3.4, which affects only motor No. 4. (There were *some* issues with motor No. 4 in 3.3, but not crash-level ones.) I'm mentioning this here because of my vague idea that it might be a digital DShot counterpart to the analog multishot twitches. I'm quite likely wrong, as usual. Please let me know if you want me to open a separate bug for this. The `diff all` would be the same, just `DSHOT600` instead of `MULTISHOT`.\r\n> \r\n> Here's the issue: Sometimes motor No. 4 suddenly loses power for a split-second and sometimes the telemetry reading from that ESC gets bogus for a few seconds. (For example, voltage on that ESC reads 9.something V while all other ESCs show 16.something V, as shown on the Power and Battery tab.) The bogus telemetry data also occurs in-flight &mdash; it sometimes raises the voltage alarm for a while at random. The two events (power loss and bogus telemetry data) mostly do **not** coincide. Both phenomena seem to occur at random.\r\n> \r\n> Things I tried:\r\n> \r\n> 1. Swapped [the ESC](https://www.racerstar.com/Racerstar-Tattoo+-42A-BLheli_32-72MHz-GD32F150-2-5S-ESC-Dshot1200-Ready-Current-Sensor-LED-Telemetry-p-201.html) for a completely new one yet again &mdash; the first swap on motor No. 4 was done [after this motor starting problem](https://github.com/betaflight/betaflight/issues/6137#issuecomment-397911247).\r\n> 1. Double-checked the motor itself with a coil meter (looks OK).\r\n> 1. Configured automatic motor timing and strong demag compensation in BLHeli_32.\r\n> \r\n> But it's still badly unreliable. Also, whenever the sudden power drops occur in hover,  motor No. 4 tends to be hot after the subsequent \"landing\".\r\n> \r\n> All these issues either appeared or got way worse in 3.4; with 3.3 this same build was able to fly for a few batteries. I'll try `DSHOT300` to see if it gets any better, but it's quite scary to test this. :fearful: \r\n\r\nHere's a `diff all` from 3.3.3; there are problems with both [3.4 [comment on testing]](https://github.com/betaflight/betaflight/issues/6136#issuecomment-406446153) and [3.3.3 [comment on testing]](https://github.com/betaflight/betaflight/issues/6136#issuecomment-406448562), to some degree.\r\n\r\n```shell\r\n# diff all\r\n# Betaflight / SPRACINGF3 (SRF3) 3.3.3 May 31 2018 / 13:34:34 (3565182d3) MSP API: 1.38\r\ndefaults nosave\r\nname SRD240\r\nresource MOTOR 1 A02\r\nresource MOTOR 2 A03\r\nresource MOTOR 7 NONE\r\nresource MOTOR 8 NONE\r\nmixer HEX6X\r\nmmix 0  1.000 -0.629  0.892  1.000\r\nmmix 1  1.000 -0.629 -0.892  1.000\r\nmmix 2  1.000  0.629  0.892 -1.000\r\nmmix 3  1.000  0.629 -0.892 -1.000\r\nmmix 4  1.000 -1.000  0.000 -1.000\r\nmmix 5  1.000  1.000  0.000  1.000\r\n\r\nfeature -RX_PPM\r\nfeature -RSSI_ADC\r\nfeature -TRANSPONDER\r\nfeature RX_SERIAL\r\nfeature LED_STRIP\r\nfeature ESC_SENSOR\r\nfeature ANTI_GRAVITY\r\nfeature DYNAMIC_FILTER\r\nserial 1 1024 115200 57600 0 115200\r\nserial 2 64 115200 57600 0 115200\r\nled 0 4,7:SW:ATOIW:0\r\nled 1 5,7:SW:ATOIW:0\r\nled 2 6,7:SW:ATOIW:0\r\nled 3 7,7:S:ATOIW:2\r\nled 4 8,7:S:ATOIW:0\r\nled 5 9,7:ES:ATOIW:0\r\nled 6 10,7:ES:ATOIW:0\r\nled 7 11,7:ES:ATOIW:0\r\nled 8 10,0:NW:CIW:2\r\nled 9 11,0:NW:CIW:2\r\nled 10 12,0:NW:CIW:2\r\nled 11 13,0:NW:CIW:2\r\nled 12 14,0:NW:CIW:2\r\nled 13 15,0:NW:CIW:2\r\nled 14 5,0::CIW:6\r\nled 15 4,0:NE:CIW:6\r\nled 16 3,0:NE:CIW:6\r\nled 17 2,0:NE:CIW:6\r\nled 18 1,0:NE:CIW:6\r\nled 19 0,0:NE:CIW:6\r\naux 0 0 0 1700 2100 0\r\naux 1 1 1 900 1625 0\r\naux 2 2 1 1625 1875 0\r\naux 3 3 1 900 1375 0\r\naux 4 13 3 1300 2100 0\r\naux 5 28 4 1700 2100 0\r\nadjrange 0 0 2 900 2100 12 2\r\nrxfail 5 s 1000\r\nrxfail 6 s 1000\r\nrxfail 7 s 2000\r\nset gyro_sync_denom = 2\r\nset moron_threshold = 32\r\nset mag_hardware = NONE\r\nset baro_cf_vel = 0\r\nset max_aux_channels = 6\r\nset serialrx_provider = FPORT\r\nset serialrx_inverted = ON\r\nset serialrx_halfduplex = ON\r\nset blackbox_p_ratio = 0\r\nset blackbox_device = NONE\r\nset min_throttle = 1060\r\nset max_throttle = 1970\r\nset dshot_idle_value = 300\r\nset dshot_burst = ON\r\nset motor_pwm_protocol = DSHOT600\r\nset motor_pwm_rate = 400\r\nset current_meter = ESC\r\nset battery_meter = ESC\r\nset vbat_scale = 208\r\nprofile 0\r\n\r\nset dterm_lowpass_type = PT1\r\nset vbat_pid_gain = ON\r\nset setpoint_relax_ratio = 0\r\nset dterm_setpoint_weight = 100\r\nset d_level = 80\r\nprofile 1\r\n\r\nset dterm_lowpass_type = PT1\r\nset vbat_pid_gain = ON\r\nset setpoint_relax_ratio = 0\r\nset dterm_setpoint_weight = 100\r\nset d_level = 80\r\nprofile 2\r\n\r\nset dterm_lowpass_type = PT1\r\nset vbat_pid_gain = ON\r\nset setpoint_relax_ratio = 0\r\nset dterm_setpoint_weight = 100\r\nset p_pitch = 65\r\nset i_pitch = 30\r\nset d_pitch = 22\r\nset p_roll = 55\r\nset i_roll = 30\r\nset d_roll = 19\r\nset p_yaw = 80\r\nset i_yaw = 30\r\nset d_yaw = 0\r\nset p_level = 35\r\nset d_level = 80\r\nprofile 2\r\nrateprofile 0\r\n\r\nrateprofile 1\r\n\r\nset roll_srate = 75\r\nset pitch_srate = 75\r\nset yaw_srate = 75\r\nrateprofile 2\r\n\r\nset roll_srate = 80\r\nset pitch_srate = 80\r\nset yaw_srate = 80\r\nrateprofile 3\r\n\r\nrateprofile 4\r\n\r\nrateprofile 5\r\n\r\nrateprofile 0\r\nsave\r\n```\r\n\r\nThe setup is a [SRD240HEX](http://www.helipal.com/storm-racing-drone-rtf-srd240-hex-cleanflight.html), the old version with a [BeeRotor F3](http://beerotor.com/product/beerotorf3-aio-flight-controller-with-osd/), modded\r\n\r\n* to use FrSky FPort (with its original [XSR](https://www.frsky-rc.com/product/xsr/) RX),\r\n* to read ESC telemetry (on the freed UART where S.Bus used to be) provided by new [RaceStar Tattoo+ 42A ESCs](https://www.racerstar.com/Racerstar-Tattoo+-42A-BLheli_32-72MHz-GD32F150-2-5S-ESC-Dshot1200-Ready-Current-Sensor-LED-Telemetry-p-201.html), and\r\n* to have all LEDs programmable, including the front ones (originally only rear LEDs were programmable).\r\n\r\nBug #6136 is the most important piece of context here. Further context on enabling DShot and related motor remapping in in #6137. There may have been [problems unrelated to this bug](https://github.com/betaflight/betaflight/issues/6137#issuecomment-397911247) on motor No. 4 in the past, but right now I'm 2 No. 4 ESC swaps away from that state."}}
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