MultiWii

I have another solution. Some small change in MultiWii FailSave function. In main loop add one variable: #if defined(FAILSAFE) static uint8_t fsBuzz; // For Failsave Buzzer #endif And replace old failsave routine to new: // Failsafe routine - added by MIS #if defined(FAILSAFE) if ( failsafeCnt > (5*...

I'm not sure, but maybe the sumator generate too short gaps bettwen frames: 8*2ms = 16ms and if frame time is 20ms, the gap is only 4ms. The firmware want gap bigger than 5ms... This may be problem. You may try change one line in firmware. In line: if(diff>5000) chan = 0; Change the 5000 to 3000, an...

If you really hate failsafe function, set the #define FAILSAFE_DELAY to 6000. (no more !)
Failsafe will start after 10 minutes of RC signal lost, so you quicker run out of batteries.
On next software version you can disable the failsafe via commenting the #define FAILSAFE_ENABLE.