# ArduCopter motor spins at full throttle when armed

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

• 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) Aug 3 at 13:56
• 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. Aug 4 at 14:22
• Seems like potentially a protocol issue - what ESC are you using and what motor protocol do you have selected? Aug 4 at 14:52

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.