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Any (current) pointers for a ready-to-run rover?

January 4, 2021, 9:54 am
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@whuppo wrote:

Hello all

Does anyone have pointers for ready-to-run rovers using Ardu*, or at least as-ready-as-possible?

To start, I’ve tried contacting the two listed here on the links page, but TT responded that they’re no longer making the Base1, and Aion did not respond to repeated emails.

To refine what I’m looking for, ideally I’d find a robust ready to go prototyping platform capable of at least some kg of payload (more is OK, until we hit a practical size/weight limit - need to be able to transport!), rocker bogie setup (no? well… 6 or 4 big rubber wheels then? OK, tracks will do!), GPS+ICU positioning, a camera post/arm, and a companion computer (say, RPi4, or other linux capable) already onboard. (LIDAR would be cool too, but it’s not necessary at this point.) I suppose easy additions to the chassis is a big bonus.

If I can’t find ideal, I can technically DIY… I’m just short on time, and the point is to work on the CC software, image stream, and other stuff.

(If you’re commercial and happen to be reading this, please contact me. And not to be desperate or anything, but if you’re a serious hobbyist, live in central Europe, and want to sell your existing project in order to start your next one, feel free to msg me. We can at least talk.)

Thanks for your attention, and cheers,
/w

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FPort for RC Control and Telemetry setup on F4 FC

January 4, 2021, 10:03 am
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@jimenezlee wrote:

I am building a 5" quad running arducopter 4.1.0 dev, and the goal here is to use FrSky FPort, supported on version 4.1.0 dev and later.

Getting this to work was getting frustrating for me and was very hard to setup until then suddenly, the right pieces of information clicked and it was easy. For anyone’s benefit that can find this information useful, here it is.

Flight Controller: Matek F405SE, Arducopter 4.1.0 dev
Receiver: R9MM receiver and R9M 2019 Module

For additional reference:
https://ardupilot.org/copter/docs/common-FPort-receivers.html
https://ardupilot.org/copter/docs/common-connecting-sport-fport.html

High level steps:

  • Flash 2009 R9M Flex Firmware on Transmitter Module (R9M_FLEX.frk)
  • Flash 2009 R9MM Flex Fport firmware on receiver (R9_MM_FLEX_Fport.frk)
  • Connect receiver to G, 5V, Tx5 or Tx3 on Flight Controller, per wiring diagram. (Would not work on Tx2)
  • Set Serial5 Baud 115
  • Set Serial5 Protocol 23
  • Set Serial5 Options 7
  • Set RSSI_TYPE = 3
  • Run Yaapu Telemetry script on radio (TX16S)
  • Discover sensors with Yaapu running, this is needed to discover sensors with passthrough telemetry from FC

Something that caused me trouble is that I expected this to work on TX2 and I tried many things until I decided to use TX3 and TX5 to test. Would work on the later 2 but would never work on the former.

Fport Telemetry
Fport Telemetry1280×720 206 KB

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Dev Call Jan 4, 2021

January 4, 2021, 2:54 pm
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@CraigElder wrote:

Issues & Pull Requests

















Plane

Copter

Rover

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Reading GPIO input from script

January 4, 2021, 5:20 pm
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@Sitha_Sek wrote:

I have a flow meter sensor that output PWM. how can I read that value from that sensor connecting to GPIO pin in Lua script?
I read this GPIO. If I set board count to less then output pins will AP read the value automatically and what I have to do is just read from the script?

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Motors spin up when autopilot loses power or reboots

January 4, 2021, 8:33 pm
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@kfowkes wrote:

Hi guys,
I’m running Copter 4.0 on a new PixHawk Blue Cube H7 on my hexacopter. I’ve noticed a strange/unexpected behavior. With my vehicle powered up, If the pixhawk loses power, the PWM signal to the ESCs goes high, and the motors all spin up to full rpms for a few seconds before they then shut off. Fortunately, all the propellers were off of the motors when this was discovered, but you can understand why this would be dangerous if all the props were on. (I’m spinning 22-inch props!)

I’m wondering if there’s a way to configure my system so as to stop this behavior.
(I understand that there are ways to supply backup power to the PixHawk, but for reasons too long to elaborate, that’s not really an option for me.)

I’ve had another autopilot on this vehicle and it would unexpectedly reboot. When that happened, I got the same behavior–the motors would suddenly spin up to full rpms for a few seconds before shutting off.

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Can't get console to show up in ardupilot on windows with wsl2

January 4, 2021, 9:01 pm
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@E.Mendelski wrote:

I’m working in a windows 10 environment with wsl2. I can’t simulate “sim_vehicle.py --console” without the console showing my vehicle. Mavproxy is working just fine and I’m not getting any error. I just can’t seem to get the console image to show up.

I have tested this in Cygwin and everything is working as it should. I just loaded wsl2, so I think it may be an integration issue.

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Smart battery project from CUAV

January 5, 2021, 12:26 am
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@cuav_le wrote:

CUAV has spent several years developing smart batteries. Through continuous testing and improvement. I am very happy to share CUAV Smart Battery with you in the new year.
We have made it into a 7S10400mah battery pack and conducted a lot of tests; but it still has many functions and styles that need to be improved. It would be great if you can provide me with advice.

SP
SP945×555 380 KB

Key data

image

Flight test

x4ss
x4ss709×531 175 KB

We loaded it into the CUAV X4 helicopter and conducted a flight test. It can provide 52 minutes of flight time for the aircraft.

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Integrate Matlab code into Ardupilot soure code

January 5, 2021, 12:34 am
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@Andyliao888 wrote:

Hi,everyone,I have some questions concerned about integrating the matlab code into ardupilot. I want to use the algorithm called support vector machine(svm) to classify the data . Now I have written the svm code using matlab , but I am not sure which type of file I should use.

Should I convert the matlab code into dynamic library or static library ?
Does anyone have similar experience for integrating the matlab code into ardupilot soure code?
Thanks in advance for your replying!

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Failsafe & SBUS not working?

January 5, 2021, 1:43 am
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@urkadurka wrote:

Hello,

I’m using Copter 4.0.5 official with Pixhawk 2.4.8 on a “X” quad copter, the radio is an HORUX X10 with X8R as receiver in D16 mode.
I tried to use the fail safe reaction available from Mission Planner.
I did :

  • Set of RX fail safe both from receiver (by F/S button) or Custom via Horus dedicated menu with a low level of throttle
  • I checked, via mission planner, if the throttle reaches the desired value switching off the transmitter.
    ==> Fail safe NOT engaged, the servo positions showed by mission planner don’t change
  • Set of RX fail safe both via Horus dedicated menu in order to have NO PULSES
  • I checked, via mission planner, if the servo positions come to blank
    ==> Fail safe NOT engaged, the servo positions remain not changed
    I tried to do the same connecting a servo on the throttle channel CH3, effectively it goes on the programmed fail safe position, or it becomes free in the case NO pulses.

I tried the same reading the output value coming from X8R (using a KK controller), the fail safe both for preset servo position or no pulses are working.

I suppose that there is a bug ?

Many thanks in advance
Regards
Paolo

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Why altitude values is inconsistence?😢

January 5, 2021, 3:38 am
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Arducopter EKF failsafe triggered by arming

January 5, 2021, 4:57 am
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@tomalxreed wrote:

Hi, I am attempting to use Arducopter 4.0.4 to control a conventional helicopter. However, the EKF failsafe is being activated as soon as the vehicle is armed, leading to erratic swashplate movements. Any help in resolving this would be greatly appreciated.

What I expect to happen
Power on system, allow sufficient time for a GPS lock. Verify swashplate control response. Vehicle arms normally (using rudder arming) and the swashplate control response is consistent with the pre-arm response.

What actually happens
Power on system, allow sufficient time for a GPS lock. Verify swashplate control response. Vehicle arms normally (using rudder arming) and EKF failsafe is activated (see attached log file). This causes the rcin/rcout response to become erratic, beyond the effects of normal D and I control terms.

What steps have I taken to resolve?

  • Repeated all calibrations (accelerometer, level, compass)
  • Tried different power sources to rule out electrical noise
  • Reviewed sensor data in the logs (all look reasonable)

Hardware
Cube Black on a standard dock, Here2 GNSS, Futaba R7003SB RX. All powered via 5v directly into the servo rail.

Software
Arducopter v4.0.4
MissionPlanner 1.3.7.0 (connected via USB/RFD868)

Questions

  • What is the cause of the EKF failsafe? The EKF variances look low and the IMU, magnetic, GPS and baro data all look reasonable
  • Why is the EKF failsafe activated only by arming? Why does it not activate before this point, and what does arming change that leads to an EKF issue?
  • What can be done to resolve this issue?

Many thanks, Tom.

00000018.BIN (709.9 KB)

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Loss altitude in auto

January 5, 2021, 5:23 am
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What happens after Mission is complete and GCS connection lost

January 5, 2021, 7:14 am
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@jasonM wrote:

Hey there

We are building a Long Range Quadcopter. The estimated flight time is about 1 hour and it has a Cube Black as flight controller.

i have a Frsky RC for take off and landing. on the Copter there is a Raspberry Pi with LTE connected to the flight controller. Mavproxy will then forward mavlink over LTE to the ground station.

we did some test flights and it performs well. ofcourse the FrSky looses the conection soon but this does not matter since the mission is on the Pixhawk and it is in Auto mode.

The failsafe is set to Continue if in Auto mode. But recently i did a mistake but got lucky to be in range of the Frsky Radio.

i created a mission with just 1 waypoint far away. during the flight, the LTE connection broke up and did not recover. i then quickly triggerd RTL on the Radio wich still had weak connection and the quad returned safely home.

but what would have been happening if i did not trigger the RTL? would the quad enter failsafe (RTL) after mission complete? or would it stay at the last waypoint forever?

thank you for your reply

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RC7 ... 10 OPT list box are empty

January 5, 2021, 7:39 am
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@urkadurka wrote:

image
image885×505 51.3 KB

Hello,
I didn’t used the quadcopter for long time, now updating the ground station application I found that the OPT list BOX for RC 7,8,9,10 are empty.

In the past a simular topic has been open “Copter Extended Tuning screen Ch7_OPT/Ch8 Opt update for Copter-3.7 #2070”

please could someone check the topic ?

Thanks
Best Regards
Paolo

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Cannot receive DISTANCE_SENSOR ( #132 ) and probably other data

January 5, 2021, 8:50 am
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@Jiri_Madeja wrote:

The communication is between Arduino and SITL ArduPlane (ArduPlane V4.1.0dev).

With
mavlink_msg_request_data_stream_pack(2, 0, &msg, 1, 1, MAVStreams[i], MAVRates[i], 1);
I am able to receive various messages, however, for MAV_DATA_STREAM_ALL (0), only 13 parameters appear.

If I use
mavlink_msg_command_long_pack(2, 0, &msg, 1, 1, 511, 0, 27, 100000, 0,0,0,0,2);
(511 is MAV_CMD_SET_MESSAGE_INTERVAL)
instead of
mavlink_msg_request_data_stream_pack(2, 0, &msg, 1, 1, MAVStreams[i], MAVRates[i], 1);
I am able to receive selectively the messages but only one of those that are sent with the stream anyway.

However, if I request any data not already received in the stream pack (as far as I know, #132 should be included in SRx_EXTRA3, but I am unable to receive it in any way), such as
DISTANCE_SENSOR (#132)
with…
mavlink_msg_command_long_pack(2, 0, &msg, 1, 1, 511, 0, 132, 100000, 0,0,0,0,2);
I do not receive this data.

From what I’ve gathered so far, it seems certain messages may not be supported by Ardupilot?

Thank you and excuse my noobieness (noobiedity?).

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Pixhawk angle to arduin update rate?

January 5, 2021, 10:08 am
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@Shef wrote:

Hello everyone,

I was wanting to feed the euler angle output (which would be supported by the airspeed sensor) from a pixhawk to an arduino? I was then going to use these angles in a custom stabilization algorithm for my VTOL which would be done by the arduino.

Does anyone know the upper limit of how many unique samples of the three angles (yaw,pitch,roll) you can transfer over every second? I think I will probably be needing to transfer over about 50 samples each second…

Thanks

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Crash after loading gimbal

January 5, 2021, 11:52 am
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@ar1040 wrote:

I have been developing a large quadcopter over the last few months. It has been flying great with no issues through the preliminary test flights. I attached my Gremsy S1 gimbal with my camera (about 1.2kg payload) and the drone became very unstable and ultimately crashed.

7208-135 motors
24.5" props

It seems that the magnetometers went crazy once a thrust command was given. With a dummy payload this didn’t happen. Only when the gimbal was powered. I ran through the calibrations as normal but without the gimbal powered (maybe this is the cause?)

This is my first time flying with a large gimbal, but everything is perfectly balanced. Has anyone had this happen to them?2021-01-05 10-09-00.bin (712 KB)

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Relative Altitude

January 5, 2021, 12:59 pm
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@Rick_Riggins wrote:

Can someone tell me how to set up mission planner to report relative altitude as apposed to absolute altitude? I’d like ground zero to read “0” instead of my height above sea level.

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SITL vehicle on mission planner moving while disarmed

January 5, 2021, 1:30 pm
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@E.Mendelski wrote:

I am using wsl2 on multicast with Mavproxy. When I connect my vehicle to mission planner, it starts moving automatically while its still disarmed. Is there a command I’m missing?

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Problem with mauch pm and boardvoltage with cube orange

January 5, 2021, 2:53 pm
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@supercurare02 wrote:

Hi everybody, best wiches for 2021!

i have a pb with my nex orange cube pixhawk.
i normally flah it with thye 4.07 arduplane firmware.
install f9p gps, xlrs telemetry and power module mauch.

once telemetry set, i connect the main battery on mauch PM all pixhawk normally start, gps and telemetry ok… but i see in the quick windows a hight value for boardvoltage 4800, 4900…i think it’s probably a unity to change …

when installing the power module mauch, after verications, i set the parameters in power monitor and reboot but nothing, no informations, 0 v and 0Amps…in red… like nothing is connected.

i test when the mini brick (new also) and same thing…

i replace my new orange cube by a black and all seem to be ok, normal value of boardvoltage and a values for voltage and current of the PM… so probem comes from the pixhawk.?

it’s my first orange cube, have a lot of others pixhawk and these steps are now very simple… is there a setp i miss? bad firmware?

thanks for helpCapture-ConvertImage

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