@dronar wrote:
Can someone tell me why in automatic flight mode (after takeoff), the elevons take that position? Shouldn’t they be up?
(video)
https://youtu.be/i1tCw8NSRx8
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Elevon position in auto flight mode
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How do I send RTK data from my base station to adrupilot
@Josephjj wrote:
I am running a Orange Cube Flight Controller with HERE3 GPS antenna and receiver module.
Currently the system is attached to a companion computer raspberry. Which I am running Mavproxy and Mavsdk.
I have a GPS RTK base station from Beitian Brand.
How do I send the RTK GPS correction from my base station to the ardupilot in the flight controller using either Mavlink or Mavsdk?
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Participants: 2
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Brushed motor with relay reverse not functioning as expected
@kisdia wrote:
Hello,
Have a skid steer rover with 2 brushed motors with relay (relay sets direction, pwm sets speed).
Due to mounting I have to reverse the direction of one of the motors.
However if I reverse the servo the trim is set to maximum on reboot and the motor spins full speed (even in Failsafe!).
If I start without reverse and change it to reverse during operation it works as expected (because trim is still minimum until next reboot)How do I reverse only the direction relay?
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Oscilations in Guided Mode using VISION_POSITION_ESTIMATE
@bromeara wrote:
We are using a 3D Lidar to generate position estimates in indoor environments on a Jetson TX2 and then feed these into the flight controller using the VISION_POSITION_ESTIMATE. We are using a CubeOrange with 4.0.5, additionally, we have an Optical Flow sensor and Laser Altimeter. With a previous SLAM method we were testing we had oscillations on all axis and ultimately it seemed to be a problem with our update rate, 2-4hz, as well as the latency of the sensor data(700-800 ms). Using a different SLAM method we were able to solve these issues, as it integrates IMU data into the position estimate allowing for a faster refresh rate(~30hz) and latency close to (100ms). After this change, we flew the quad in both position hold and loiter and it was noticeably more stable specifically in the Z-axis which was previously very noisy. However, there were still significant oscillations in positioning specifically when hovering however it seemed to stay around the desired point. Increasing the EK2_POSNE_M_NSE from 0.1to 0.5 seemed to smooth these movements significantly and while the oscillations still existed it was comparable to drifting compared to the active adjustments before. This, however, is still not precise enough for our applications and my current hunch is that it has to do with the tuning of the Ardupilot Position controller. Might anyone have an idea of what could be going on in our system?
LOG FILES: https://drive.google.com/drive/folders/1JwaO_fbJlj4rLNO3GlOJKcKqPtiZ1OdO?usp=sharing
There are 5 sets of log files In the following google drive link, only log_27 and log_109 have images associated with them.
LOG 27
This is the only flight in guided mode, the drone is in Guided mode and is given a take off message and given a command to move 2m in the Y and then back to land. There is a hold for ~30sec in between each move. The rotate is caused by the way we are setting the EKF origin and is not part of the command. We observed that it seemed to hover around the correct points as well as landed in the proper position leading us to believe it had more to do with PIDs rather than sensor drift.
EK2_POSNE_M_NSE=0.3LOG_105
This flight was in Position hold and had the most aggressive oscilations in hover.
EK2_POSNE_M_NSE=0.1LOG_107
This flight was in Loiter
EK2_POSNE_M_NSE=0.5LOG_108
This flight was in position hold and was much more stable than loiter but had a large slow oscilation.
EK2_POSNE_M_NSE=0.5LOG_109
To reduce the drift I chose a middle ground for the error which seemed to maintain the large slow oscilation but might have been a little tighter. This flight has a video so you can see for yourself.
EK2_POSNE_M_NSE=0.3Conclusion
These tests were run to see the effects of EK2_POSNE_M_NSE on our positioning accuracy and performance but while it does seem to smooth out the error it does not solve the root cause of our positioning issue. We are currently performing more tests to tune the position control PID values and I will post updated logs for those. However in order to get ahead of the curve, does it look like I misdiagnosed the problem?
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Lua Command "vehicle:set_steering_and_throttle()" not working with skid steer vehicles
@CraigF wrote:
I am having a problem with my lua script in which I am trying to use the command
vehicle:set_steering_and_throttle() which is contained in the “rover_set_steering_and_throttle.lua” example lua script.This command should allow the steering and throttle to be set (in Guided mode) from the lua script.
The issue is that while the vehicle:set_steering_and_throttle() command works perfectly with separate steering and throttle (servo1_function = 25 (ground steering) and servo3_function = 70 (throttle) ). unfortuately the command does not work at all when the rover is in skid steer mode (servo1_function = 73 (throttle left) and servo3_function = 74 (throttle right).
Does anyone have any insight into this. I need to control speed and steering from a lua script for my skid steer vehicle and unfortunately I dont think the vehicle:set_steering_and_throttle() command is going to work for me.
By the way I am noting this behavior on the rover simulator within Mission Planner. Thank you. Craig
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Using WiFi to Connect to MP
@Rick_Riggins wrote:
Does anyone use WiFi to connect Mavlink telemetry to Mission Planner?
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Pixhawk 4 ardurover firmware can't connect to pc
@Biomestry wrote:
Hi, i have a pixhawk 4 and im trying to make a boat. I flashed my pixhawk 4 with ardurover on mission planner 1.3.74 but after its done flashing the pixhawk reboots but then the ports aren’t there. i just have 1 port called pixhawk4 in my device manager and it shows up on mission planner as MindPX Com 7 and i cant connect to it. When i flash arducopter or plane it’s working fine im able to connect and setup the pixhawk. Any help would be appriciated.
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Crashing my drone due to loosing of Altitude
@SWARNA_MOHAN_CHANDRA wrote:
Hi,
when I am Making a mission with my hex-copter, drone altitude is losing when it is entering into the mission sometime. I set all PSC_ACCZ parameters. please help me. LOG
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ESC 4 in 1 with mRo Pixracer R15 or Cube
@Dorian wrote:
Hello,
Do you know if it is possible to use the + 5v, + Bat and Current outputs of a 4 in 1 Drone Racer ESC and connect them to a Pixracer R15 mRo or Cube for power supply and battery telemetry?
(In this example, the Bec output is 10 volts.)
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Ntrip Connection Setup
@GRS26 wrote:
Hello,
Im a bit of a newbie with mission planner. I have a here+ V2 RTK developed by Hex. Im having a bit of difficulty setting the NTRIP. I already have an IP 170.84.40.52, the government of my country is providing the service, so I made a user and password in their system.I dont understand how should I formulate the url in mission planner. The http://user:pass@host:port/mount , the user should be the one I made to acess the system? and what is the pass? The host would be 170.84.40.52? The only one that I know for certain is mount, and maybe port if it is 2101.
Do I need to use u-center for making this Ntrip setup to work?
Thanks in advance for the help and sorry for my ignorance.
Posts: 7
Participants: 3
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Suggestion: make a "autotune" for filters
@Steve79 wrote:
Hi all,
since 4.x copter is out, i struggled a bit to find the “best” tuning of the new filter parameters (starting from INS_GYRO_FILTER to ATC_RAT_PIT_FLTT, and the PSC prefix ones, etc). I ended to what i consider a good setup, but everytime i fly it, i feel that it could be improved. Also, depending on what (payload weight, different propellers,…) i mount on the quad, it can happen it begins to have vibrations etc. So, there’s a possibility that there’s not a unique optimal setup for a given platform, especially bigger ones with “modular” payloads.
So, since we have a vibration estimation on-board i ask myself if it would be possible to implement an PID-style closed loop autotune algorithm which tunes that parameters or even adjust them dinamically during flight. (Sorry, i don’t have the skills to do that). Also, such a dynamic-filter algorithm could adjust values depending on flight envelope, since quads have much different throttle states during hover, translation, raise up, yaw, and bad harmonics can raise during those “transient” states, so it would be very difficult to catch them with a “trial and error” setup method.
I think it could greatly improve flight quality of every size and shape UAV. Admins, let me know if i should open a PR in github.
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Does pixhawk update angles based off airspeed sensor?
@Shef wrote:
Hello guys,
Does the pixhawk update the angles (that can be sent over to an arduino via mavlink) when it receives data from an airspeed sensor?
In other words, the angles should get messed up if you induce a high amount of dynamic acceleration, an airspeed sensor would be able to see this acceleration and send information about it to the pixhawks angle calculating algorithm and I would hope it uses it to update the angle output to what they truly are.
Thanks
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MissionPlanner 1.3.74 Bluetooth cannot connect
@adam wrote:
I have been using 1.3.70 and there is no problem. After updating to 1.3.74, the bluetooth cannot be connected. The problem still exists after reinstalling
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Some checks were not successful - at PR - what is the best way to search for the root cause?
@Quaxwilly wrote:
After my latest rebase on master I’ll get an " Some checks were not successful" info and some checks are red cross marked.
When I look in the corresponding logfile, I find a reference to a file e.g.: (see /tmp/buildlogs/HeliCopter-LoggerDocumentation.txt)
But where I can find that file? And will that file contain further info?
That reference is done some more in the logfile, but I can’t see the root cause for that error:
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Copter Does not face RTL direction, No Wind Information, Compass Problem?
@JetPilot wrote:
I have a copter setup using a Kakute F7 and Arducopter 4.1 with an external GPS/compass. The compass / heading indications on the OSD work fine, but the copter does not face the home waypoint in RTL. ALSO, the windspeed indicator always indicates zero, I suspect this is also caused by some kind of compass problem ??? The compass does pass calibration OK, so I know it works. Anyone have any ideas ???
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Bad Lidar Health again
@toter wrote:
Built quadcopter with Pixhawh4 as FC. It is ready to fly, Mission Planner, but want to install Benawake Lidar TFmini V1.8 for object avoidance. Several good presentations on “how to” are available on YouTube and Ardupilot/copter. And I also read info on changing GPS setting from 3 to1. I have it plugged into the telemery1 port. After changing recommended settings many times, have not been able to get rid of “Bad Lidar Health”. When I set up the Lidar in the Benawake instructions, I see graphical voltage changes with distance in the output suggesting it is working.
Trying to return to the default setup, I reset as many of the known lidar parameters to default or 0, and disconnected the Lidar and I am still getting Bad Lidar Health. It still reads something but I dont know where.
Does anyone in the community have a step by step connecting TFmini to Pixhawk4. Other functions are working and I dont want to reset all
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Want to learn more about using "BaseStream" .read/.write
@Sjatar wrote:
So been fiddling around with the command BaseStream with mission planner script cabability with a simulated copter inside mission planner. What I want to succed with is to write a python script that is able to read all messages seperatelly and trigger phyton code based on the data that comes in.
Not been able to test BaseStream.write but I’m guessing it sends whatever data you specify to or from the drone.
What I’m having issues with is that sometimes I will use BaseStream.read and get some data that is not following the correct format. I was guessing that I might need to wait for a heartbeat or some kind of timing to know when to read and that I will just read garbage if I read when the drone might not send any data.
This is the script that I made based on some of the example scripts that came with Mission planner. I’m very new in python so qritique would be nice <3 . This code will with no hesitation create a big array with 1001 bytes (as I cannot find any data on how big these blocks(?) that .read will read) and populate it with whatever BaseStream.read will give out. I then print out the messages inside this data dump as I belive the format should look like. Start with 253 for MAVLink V.2 and then the lenght of the payload +11 bytes for non payload data. It seems to be able to isolate most messages, but sometimes I get messages that do not start with 253 or 254 (MAVLink V.1/V.2). Would also be nice to know if I’m getting all messages through this method or if this might miss a ton of them. This code should work on a new copy of Mission Planner.
import clr import MissionPlanner clr.AddReference("MAVLink") import time from System import Byte from System import Array import MAVLink fail = 0 while 1 == 1: index = 0 amount = 0 a=Array[Byte]([0x00]*(1000+1)) time.sleep(.5) MAV.BaseStream.Read(a,0,1000) print '\n' while a[index] != 0: print a[index:index+a[1]+12] index = index+a[index+1]+12
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ArduPilot Monthly Update for Jan 2021
@rmackay9 wrote:
Here are the slides from the monthly report for Jan 2021 presented by Tridge, Randy and a few others at the monthly Partners call.The images above are of the Vectornav external AHRS system and the Carbon Cub plane it was tested in. You can see the PR here but in short, ArduPilot 4.1 supports using external AHRS system like this along side ArduPilot’s built-in EKF.
Thanks as always to our Partners for their support and engagement!
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Ping 1090 Transmission Issue
@bharath_babaji wrote:
Hi ArduFam
I, have one unit each of Ping 1090i and one unit of Ping Rx (1090/UAT). I have configured both with Arducopter 4.0.3 based Pixhawk boards and are able to successfully receive the position reports from the surrounding aircrafts in our area on the Mission Planner GCS. I now need to check the transmitted position info from my Ping1090 transceiver on the Ping Rx receiver on it’s respective connected GCS (Mission Planner). Though I am able to see positions from other large aircrafts, I am not able to see the position from our other Ping 1090i transceiver. Please suggest a method/steps how I can test the transmission from Ping 1090i transceiver.
For configuration of Ping 1090 module, I have done it by means of Pixhawk itself. I don’t have the ping programmer. I have set the appropriate call sign and ICAO id, alongwith the type set to Rx and Rx enabled, ensured GPS fix as well. For Vso the default value being 1 knots as per support documentation, is the only param I am unable to configure via Pixhawk. But we have ensured I am flying way beyond the Vso, my cruise speed is 24knots. Is there also any minimum height only after which it starts transmitting? Or is there any other setting/parameter I am missing.
Kindly suggest a method/steps how we can test the transmission from Ping 1090i transceiver.
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Ublox C099-F9P integration. Pixhawk 2.4.8
@JirikCZ wrote:
Hello,
Please ask for any advice regarding the connection the C099-F9P with autopilot . Pixhawk 2.4.8.
The boards in my picture are connected according to Ublox video https://youtu.be/5MXh63XDfdY variant Wifi connect.
If you could be so kind and send me:
Diagram of connection C099-F9P to Pixhawk 2.4.8 port GPS
Several pictures settings of Rover in U-center
Several pictures settings of Pixhawk in Mission planner
Thank you very much in advance for any advice
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