{"action":"created","issue":{"url":"https://api.github.com/repos/borisbstyle/betaflight/issues/89","labels_url":"https://api.github.com/repos/borisbstyle/betaflight/issues/89/labels{/name}","comments_url":"https://api.github.com/repos/borisbstyle/betaflight/issues/89/comments","events_url":"https://api.github.com/repos/borisbstyle/betaflight/issues/89/events","html_url":"https://github.com/borisbstyle/betaflight/issues/89","id":124392967,"number":89,"title":"2.2.0 RC1 -- Throttle jump on arm","user":{"login":"waslater","id":10385484,"avatar_url":"https://avatars.githubusercontent.com/u/10385484?v=3","gravatar_id":"","url":"https://api.github.com/users/waslater","html_url":"https://github.com/waslater","followers_url":"https://api.github.com/users/waslater/followers","following_url":"https://api.github.com/users/waslater/following{/other_user}","gists_url":"https://api.github.com/users/waslater/gists{/gist_id}","starred_url":"https://api.github.com/users/waslater/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/waslater/subscriptions","organizations_url":"https://api.github.com/users/waslater/orgs","repos_url":"https://api.github.com/users/waslater/repos","events_url":"https://api.github.com/users/waslater/events{/privacy}","received_events_url":"https://api.github.com/users/waslater/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":16,"created_at":"2015-12-30T19:56:46Z","updated_at":"2015-12-30T23:29:32Z","closed_at":null,"body":"This was initially documented here: http://www.rcgroups.com/forums/showpost.php?p=33582182&postcount=12794\r\n\r\nI had this problem on two separate ships, both with naze32. I will test my dodo ship shortly.\r\n\r\nUsing a Naze32 rev5, with D4R-II RX, and mostly default values, the motors jump to what sounds like full throttle when armed. Airmode has generally the same behavior. \r\n\r\nIf I set all D-terms to 0, there is no problem, but if they are non-0, the problem comes back.\r\n\r\nThe dump and BB log are at link above. Tasks list is here:\r\n\r\n    Entering CLI Mode, type 'exit' to return, or 'help'\r\n\r\n    # tasks\r\n    Task list:\r\n    0 - SYSTEM, max = 11 us, avg = 0 us, total = 59 ms\r\n    1 - GYRO/PID, max = 574 us, avg = 259 us, total = 477755 ms\r\n    3 - SERIAL, max = 59567 us, avg = 2 us, total = 825 ms\r\n    4 - BEEPER, max = 8 us, avg = 0 us, total = 135 ms\r\n    5 - BATTERY, max = 40066 us, avg = 1 us, total = 261 ms\r\n    6 - RX, max = 113 us, avg = 53 us, total = 3164 ms\r\n\r\n    # status\r\n    System Uptime: 892 seconds, Voltage: 8 * 0.1V (0S battery - NOT PRESENT), System load: 0.06\r\n    CPU Clock=72MHz, GYRO=MPU6050\r\n    Cycle Time: 494, I2C Errors: 0, config size: 2020\r\n\r\n    # \r\n\r\nHere is a video of the issue: https://www.youtube.com/watch?v=txcji0HJCGI\r\n\r\n\r\nThese were the only settings I initially restored after doing a full chip erase:\r\n\r\n    feature RX_PPM\r\n    feature VBAT\r\n    feature FAILSAFE\r\n    feature ONESHOT125\r\n    feature BLACKBOX\r\n\r\n    map TAER1234\r\n\r\n    serial 0 1 115200 57600 0 115200\r\n    serial 1 128 115200 57600 0 250000\r\n\r\n    set min_check = 1020\r\n    set max_check = 1985\r\n    set rssi_channel = 6\r\n\r\n    set min_throttle = 1030\r\n    set max_throttle = 2000\r\n\r\n    set align_board_roll = 10\r\n    set align_board_pitch = 0\r\n    set align_board_yaw = -90\r\n\r\n    set gyro_lpf = OFF\r\n    set acc_hardware = 1\r\n    set baro_hardware = 1\r\n    set mag_hardware = 1\r\n    set blackbox_device = SERIAL\r\n    set blackbox_rate_num = 1\r\n    set blackbox_rate_denom = 2\r\n    set beeper_off_flags = 256\r\n\r\n    aux 0 0 3 1300 2100\r\n    aux 1 27 3 1750 2100\r\n    aux 2 12 2 1750 2100\r\n\r\n    set deadband = 5\r\n    set yaw_deadband = 5\r\n\r\n    set pid_controller = MWREWRITE\r\n    set p_pitch = 69\r\n    set i_pitch = 16\r\n    set d_pitch = 26\r\n    set p_roll = 40\r\n    set i_roll = 14\r\n    set d_roll = 21\r\n    set p_yaw = 100\r\n    set i_yaw = 50\r\n    set d_yaw = 12\r\n    set p_pitchf =  1.400\r\n    set i_pitchf =  0.500\r\n    set d_pitchf =  0.022\r\n    set p_rollf =  0.850\r\n    set i_rollf =  0.300\r\n    set d_rollf =  0.018\r\n    set p_yawf =  3.400\r\n    set i_yawf =  0.390\r\n    set d_yawf =  0.010\r\n\r\n    set rc_rate = 100\r\n    set rc_expo = 75\r\n    set rc_yaw_expo = 20\r\n    set thr_mid = 50\r\n    set thr_expo = 0\r\n    set roll_rate = 69\r\n    set pitch_rate = 69\r\n    set yaw_rate = 75\r\n    set tpa_rate = 0\r\n    set tpa_breakpoint = 1500"},"comment":{"url":"https://api.github.com/repos/borisbstyle/betaflight/issues/comments/168094812","html_url":"https://github.com/borisbstyle/betaflight/issues/89#issuecomment-168094812","issue_url":"https://api.github.com/repos/borisbstyle/betaflight/issues/89","id":168094812,"user":{"login":"digitalentity","id":11059099,"avatar_url":"https://avatars.githubusercontent.com/u/11059099?v=3","gravatar_id":"","url":"https://api.github.com/users/digitalentity","html_url":"https://github.com/digitalentity","followers_url":"https://api.github.com/users/digitalentity/followers","following_url":"https://api.github.com/users/digitalentity/following{/other_user}","gists_url":"https://api.github.com/users/digitalentity/gists{/gist_id}","starred_url":"https://api.github.com/users/digitalentity/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/digitalentity/subscriptions","organizations_url":"https://api.github.com/users/digitalentity/orgs","repos_url":"https://api.github.com/users/digitalentity/repos","events_url":"https://api.github.com/users/digitalentity/events{/privacy}","received_events_url":"https://api.github.com/users/digitalentity/received_events","type":"User","site_admin":false},"created_at":"2015-12-30T23:29:32Z","updated_at":"2015-12-30T23:29:32Z","body":"That's a mere coincidence. By a lucky chance deltaSum is allocated stack\nwith values close to zero on an F3 targets.\n"}}