Motors continue to spin after exceeding 50% and lowering throttle to 0%

[ahubb]

Hey y'all!

Currently having an issue that I am unsure of how to fix. When I throttle up the drone below 50% it works perfectly normal, but if I exceed 50% throttle then I am no longer able to ramp down the motors and can only slow them down by completely un-arming the drone. I have tried reflashing the ESC's in BLHeli and it did not help along with some other things which I can add if yall need. This is best explained with this video (sorry for the bad filming, but I had to hold the drone with the props on as I have heard having no props can cause similar problems when test benching)

Thanks!

 

[Dugdog47]

Have you tried flying it? Looks like an angry caged bird lol.

 

[wafflejock]

It is definitely quite angry, suggest not do that again with it in the hand and all, could just see it jerking down and slicing up your fleshy arm bits, remember these brushless motors get those little sharpish props moving at dremel speeds so it will cut the heck out of you. Anything above size of tiny hawk I don't trust or test with props on like that I'll either pin it down for a sec while arming/disarming with a foot with shoe on and pants or just take it off in a field at least 10 ft away from myself so have a moment to react and disarm and do testing LOS (no goggles) for first couple tests.

Like @Dugdog47 says it wants to fly and it wants to maintain it's angle or get to level depending on the mode set on the FC so you swinging it around it your hand it "sees" as extreme wind or sudden external forces it needs to respond to (the I term in PID reacts to external forces that are causing the error from target angle to be missed). You should be able to control the individual motors with props off on the bench using the sliders in motors tab of betaflight pretty reliably but if you actually arm it then it will be in a flight mode and try to adjust throttle to each esc to get level or hit the target angle.

Also can test using only the right stick no extra throttle input on the ground and tilt forward back left right using the right stick make sure it always goes the right direction before giving it some throttle (can also test yaw on the ground a bit but if right stick motions work as expected I usually give it a little throttle and get it in the air).

 

[GJH105775]

What type of sensors and flight modes does it have? I agree with the others here it sounds like it's trying to do something like maintaining an angle, flight level, or expecting to see some change that your hand is not letting it. The control logic (PIDs, Kalman filter etc.) aren't expecting the hand of god to keep control inputs from having an effect on the sensor, this can cause the error to climb resulting in more and more input to be applied until it sees the change.

Also powering it to full while it's stationary like this can overheat things, when moving it can cool better and the load on the motors/props/ESCs is much less. A good rule is to never do this with brushless motors, the tiny brushed ones might scratch you, but these could seriously cut you.

I'd try it on the ground without holding it, and just be ready to disarm.