Morning guys, first time ever setting up an autopilot on on a plane as I’ve always flown manual, I’m having trouble with a vtail twin puller. The esc’s are 2 sequire 8s 120a am32 escs that are both freshly configured, and they are hooked up to s1 and s2 of the fc, which is a matek h743wlite.

The wiring is good, i’m not using any telemetry wire however, just the ground and signal, i have checked the connection several times and even ran continuity from one end to the other in case of a frayed wire but no result, leading me to it being a config error. i was told to run the escs at dshot 150, as I am running 2 13 inch props on 3115 motors, and apparently it makes them run more efficient?

The motor test page is also grayed out, even when armed and force armed.

I’ve attached the params file down below along, If anyone could take a look and point out any errors it would be greatly appreciated.

Falcon_Arming_Issue_Config.param (21.2 KB)

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Hello) I must to configurate PID expensive quad 25inch. Does anybody have ± same PIDes, because I scare do manual configurate this from standart value and i have not right to do mistake. I will start from kind same Pides and do Autotune

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I also started getting 4000 error. On one occasion, the error appeared on the OSD screen while hovering, and another time I have seen it on landing. The VTOL copter part was perfroming apparently without issues, however, after one flight I was not able to read the log file, it was saying that FTM data was missing.

I understand that 4000 could be related to SPI communication, and from what I think, speedybee has the SD caard aand the IMU on SPI.

The Ardupilot Hardware Report had this entry:
0x4000: SPI fail (line 215)

I found another post, Internal error 0x4000 l:215 spi_fail
where a similar problem appeared.

What I do not understand whether this is very serious or not, i.e. whether there is a risk of loosing an IMU (and copter goes down), or whether this is just an occasional drop out of a data frame. CPU load was around 50 % and the average loop frequency was 400 Hz, with worst loop rates around 340.

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Setting up a small development bird, x500 v2 with a Cube Orange + / ADS-B Carrier / TX16s running EdgeTx

I am trying to get a TBS Tracer Nano RX to setup fully but I am having issues…

I am connected to Telemetry 1, connections have been triple checked. Currently on the latest firmwares for both the TX/RX and Cube.

Serial protocol set too 23 / RC In
RC_output 228
RSSI 3

The only way I can get any connection is to enable Half Duplex on the serial port.
Either way tho I get zero telemetry coming back from the Cube only the basics from the RX.

When half duplex is enabled I am able to arm / disarm the quad… just no telemetry. As soon as I take half duplex away my RC control is lost.

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Hello,

I have:
RC12_OPTION @ 219
TUNE @ 45
TUNE_MIN @ 0.1
TUNE_MAX @ 0.2

RC channel 12 responds to TX pot in Radio Calibration screen
But no changes are made to ATC_INPUT_TC (radio feel)

I am refreshing the parameters to check for change but ATC_INPUT_TC stays at it’s original 0.15

Any suggestions please guys?
Thank you

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I have a situation where my drone’s z velocity needs to be limited during flight. I tried limiting the drone’s velocity in the global position target by changing the velocity.z value and then publishing the message before the drone goes to its next waypoint but the drones z velocity remains unchanged. Is there a way to limit the drone’s velocity in the global position target during flight without having to mess with the FCU parameters?

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Guys, I made a major breakthrough today - I successfully completed my Pixhawk 6C upgrade on my Tarot 650 Sport. After weeks of frustrating problems and trying the patience of all in the community who tried to help me I got it working.

What I did was to punt and reset all parameters to their default values and go through the steps once again. Of course, I had to go through all of the calibrations, and as it turned out I also had to reprogram my transmitter (I think there was a loose battery and settings don’t persist?). After completing the calibrations, I powered up the aircraft using the onboard lipo and connected to Mission Planner via the telemetry modems - the ESC beeping stopped, I was able to arm the aircraft and successfully run the motor test! I then mounted the propellers and was able to successfully arm the aircraft outside (secured down with some ceramic tiles), and throttle up the motors - they run much more smoothly! I was successful all around.

I have to do a few more things before I take it out for a test flight. The weather here in Colorado is freezing anyway and its really windy. I hope to capture some video of the test flight and post it.

I want to give my sincere thank you to all who tried to help me. I know I tried your collective patience to extreme but in the end I had a successful outcome.

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Greetings All,

We have been using HereLink HCU units with great success on some of our in house made boats. We are at the point that we need more buttons/switches than is possible with the herelink (more sbus channels). Does anyone have any recommendations for other HCU’s with telemetry, video, and sbus that you do not need to know Chinese to program? Thanks!

Cheers,
Ian

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Is there a way to display user defined values on OSD screen?

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After thoroughly studying the configuration files in ArduPilot and reviewing related discussion topics in the forums, the lawn mower has finally been fully adjusted. With RTK Fixed, the error margin is within ±3 cm.

Autonomous Navigation Lawn Mower

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Good morning. Building a Hexacopter. I am using x6 Holybro Tekko F4 45A ESC’s (AM32). I am using a Holybro Pixhawk 6X flight controller. I am at the point of making my power & signal wiring connections between the ESC’s & the FC. I want to use Bi-directional DShot to help with notch filtering / tuning. Can someone please confirm that I need to connect (for each ESC) only the ground (-ve) between both and the signal wire from the FC’s signal pin to the ESC’s RX pad?
The ESC’s TX pin is not used for BDShot telemetry?
Many thanks
James

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So I started a post on the Facebook as to why we do not see more Y6 multirotors being flown. It would appear that the majority of drones are the normal x4&x8 or Hexa or Octo configurations.

Someone said that according to the develepers the Y6 drone software is not as advanced as other configurations and the Y6 drones are not as stable other configurations.

So does this person have a point or not?

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Hi,

I have two drones in Gazebo simulation, and I want to turn GPS off on the second one to get location from the first one.

I’ve already set this in Gazebo world file to get navsat plugin for first drone only. (I’m not sure it is working though)

    <plugin filename="gz-sim-navsat-system" name="gz::sim::systems::NavSat">
      <entity>name_of_the_first_drone</entity>
    </plugin>

I’ve also set these parameters:

SIM_GPS_TYPE = 0
SIM_GPS_DISABLE = 1
SIM_GPS1_ENABLE = 0
SIM_GPS2_ENABLE = 0
SIM_GPS3_ENABLE = 0
AHRS_GPS_USE = 0
GPS_AUTO_CONFIG = 0

So far, the preflight check shows

AP: PreArm: GPS 1: Bad fix

which probably means that GPS is off. However, when I turn off the check and take off, I can see this via status command:

662: GLOBAL_POSITION_INT {time_boot_ms : 191175, lat : -353632531, lon : 1491652484, alt : 583990, relative_alt : 0, vx : 0, vy : 0, vz : 0, hdg : 8999}
2: GPS_GLOBAL_ORIGIN {latitude : -353632621, longitude : 1491652374, altitude : 584000, time_usec : 39061000}
662: GPS_RAW_INT {time_usec : 0, fix_type : 1, lat : -353632531, lon : 1491652484, alt : 583990, eph : 121, epv : 200, vel : 0, cog : 23101, satellites_visible : 3, alt_ellipsoid : 583990, h_acc : 300, v_acc : 300, vel_acc : 0, hdg_acc : 0, yaw : 0}
193: HEARTBEAT {type : 2, autopilot : 3, base_mode : 81, custom_mode : 0, system_status : 3, mavlink_version : 3}

which probably means, that GPS data still flow (and changes during flight). Also, I’m seeing this during preflight:

AP: GPS 1: probing for u-blox at 230400 baud
AP: GPS 1: detected u-blox

Also, there is a difference between Guided and Guided_NoGPS modes behavior. In Guided_NoGPS it floats aside, as expected. In Guided, with GPS presumably “turned off”, it doesn’t.

Overall, it makes me think I didn’t turn GPS off. What should I do?

Log

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Hello! I built a 5 inch quad using the following setup:

FC: Speedybee f405 v3
Motors: DYS Samguk Shu 2306 2500kV (Yes, cheap motor. This is for a research study, still packs a punch though)
Battery: Zippy 4s 1400 mAh
GPS: MicoAir M10
Radio: Flysky FS i6 and receiver FS-ia6b (mostly will use RPi as it will be in Guided mode running a python script which works on SITL)
Frame: ZMR 250 3D printed PETG

It also has a raspberry pi 3 as Mavproxy on tailscale (which works like a charm)

The problem is I did a maiden flight, before that I did tune it with initial parameters on a youtube channel for 5 inch quads. In stabilize mode, I can feel that I can control the drone well (I have no idea about the oscillations and such), but then I switch to Alt-Hold, when I did throttle above halfway, the drone suddenly shot upward. Fortunately, I did motor emergency brake and caught the drone, just damaging 1 propeller.

I uploaded my .bin file on Google Drive (file size too large)
https://drive.google.com/drive/folders/10l4jyJZj5dPsTSBfvCaw0DR3E_QtY_Sv?usp=sharing

Here’s my build.

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What is the best flight controller in terms of ease of use, community support, compatibility with my components, etc.

I am using an H8 configuration with eight V13L KV65 Tmotors/eight Thunder 200A 24S

I am between a Cube Orange flight controller, and Pixhawk 6X Pro flight controller, but I’m open to other suggestions.

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Hello. Im working in an app that need to process the UAV telemtry.

I made an script that stores the mavlink messages received from the mavfowarding port of qgroundcontrol. Basically stores every message like this:

0.145#SYSTEM_TIME {time_unix_usec : 1721322141713396, time_boot_ms : 151119}

Saving the time of reception and the msg with the data.

I specifically want to determinate were is the uav looking at so i can see the flight in a web.
Something like this:

(IN this case the gps position is correctly but the orientation goes crazy. Not coresponding to the real one.

I used the latitude and longitude to draw the marker.
BUt i cant find a value that represet the orientation. I already tried using the yaw of ATTITUDE and the HDG of GLOBAL_POSITION_INT. But in both cases the line does’t match with the reality (Not even close)

Maybe theres a parameter that im missing? Or have to make something with the two parameters to get the orientation?

This are a few lines of the file.

0.000#STATUSTEXT {severity : 6, text : Mission: 1 Takeoff, id : 0, chunk_seq : 0}
0.145#GLOBAL_POSITION_INT {time_boot_ms : 151119, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -35, vx : 0, vy : 0, vz : 1, hdg : 19382}
0.145#SYSTEM_TIME {time_unix_usec : 1721322141713396, time_boot_ms : 151119}
0.146#AHRS {omegaIx : -5.781927757197991e-05, omegaIy : 0.001270061475224793, omegaIz : 0.0003072524559684098, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.0055777207016944885, error_yaw : 0.0029811363201588392}
0.146#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.146#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.146#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151119, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.147#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.02792874351143837, pos_horiz_variance : 0.0008946782909333706, pos_vert_variance : 0.014039915055036545, compass_variance : 0.0034269867464900017, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.147#LOCAL_POSITION_NED {time_boot_ms : 151119, x : 1.4107686281204224, y : 0.43365779519081116, z : -0.7840991020202637, vx : 0.007232893258333206, vy : -0.008774572052061558, vz : 0.014655286446213722}
0.147#VIBRATION {time_usec : 151119732, vibration_x : 0.254734069108963, vibration_y : 0.15753096342086792, vibration_z : 0.25059473514556885, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.147#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.148#ATTITUDE {time_boot_ms : 151126, roll : 0.04134735092520714, pitch : 0.04320533946156502, yaw : -2.9005141258239746, rollspeed : -0.00060767971444875, pitchspeed : -0.00012203992810100317, yawspeed : 0.0002497794048395008}
0.148#VFR_HUD {airspeed : 0.0186335239559412, groundspeed : 0.011396334506571293, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.014742176048457623}
0.148#AHRS2 {roll : 0.04827441647648811, pitch : 0.03840623050928116, yaw : -2.891028642654419, altitude : 1214.97998046875, lat : -248223497, lng : -654656089}
0.148#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 278, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
0.229#POWER_STATUS {Vcc : 4969, Vservo : 0, flags : 1}
0.229#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558176}
0.229#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633030175697058, nav_pitch : 0.0003125464136246592, nav_bearing : -166, target_bearing : 292, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
0.230#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
0.230#SERVO_OUTPUT_RAW {time_usec : 151179575, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
0.230#RC_CHANNELS {time_boot_ms : 151179, chancount : 16, chan1_raw : 1493, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
0.230#RADIO_STATUS {rssi : 128, remrssi : 129, txbuf : 100, noise : 52, remnoise : 30, rxerrors : 13, fixed : 0}
0.231#RAW_IMU {time_usec : 151179604, xacc : 42, yacc : 24, zacc : -1002, xgyro : 0, ygyro : -1, zgyro : 0, xmag : -190, ymag : 81, zmag : -89, id : 0, temperature : 4480}
0.231#SCALED_IMU2 {time_boot_ms : 151179, xacc : 37, yacc : 15, zacc : -1003, xgyro : 0, ygyro : -3, zgyro : -1, xmag : -185, ymag : 82, zmag : -126, temperature : 4475}
0.231#SCALED_IMU3 {time_boot_ms : 151179, xacc : 44, yacc : 32, zacc : -993, xgyro : 0, ygyro : -2, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
0.231#SCALED_PRESSURE {time_boot_ms : 151179, press_abs : 876.969482421875, press_diff : 0.0, temperature : 4157, temperature_press_diff : 0}
0.231#SCALED_PRESSURE2 {time_boot_ms : 151179, press_abs : 876.5421142578125, press_diff : 0.0, temperature : 4774, temperature_press_diff : 0}
0.232#GPS_RAW_INT {time_usec : 150998000, fix_type : 4, lat : -248223497, lon : -654656089, alt : 1216280, eph : 46, epv : 89, vel : 2, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 532, v_acc : 1044, vel_acc : 183, hdg_acc : 0, yaw : 0}
0.232#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
0.232#ATTITUDE {time_boot_ms : 151226, roll : 0.0413685142993927, pitch : 0.04322914034128189, yaw : -2.900527000427246, rollspeed : -0.00024435538216494024, pitchspeed : -0.00010268727783113718, yawspeed : -0.00015113622066564858}
0.232#VFR_HUD {airspeed : 0.020191380754113197, groundspeed : 0.013849057257175446, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.014693381264805794}
0.233#AHRS2 {roll : 0.04833686351776123, pitch : 0.038377679884433746, yaw : -2.8910694122314453, altitude : 1215.1300048828125, lat : -248223497, lng : -654656089}
0.262#ATTITUDE {time_boot_ms : 151326, roll : 0.0413677841424942, pitch : 0.0432329960167408, yaw : -2.9005143642425537, rollspeed : 1.1517910024849698e-05, pitchspeed : -0.0005064019933342934, yawspeed : -0.0001773345284163952}
0.263#VFR_HUD {airspeed : 0.02170938439667225, groundspeed : 0.016600053757429123, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.01399055402725935}
0.263#AHRS2 {roll : 0.048283688724040985, pitch : 0.03833353891968727, yaw : -2.8911142349243164, altitude : 1215.5499267578125, lat : -248223496, lng : -654656089}
0.454#ATTITUDE {time_boot_ms : 151426, roll : 0.04135410860180855, pitch : 0.04323349893093109, yaw : -2.900524616241455, rollspeed : 0.0003002472221851349, pitchspeed : -0.00046842359006404877, yawspeed : -0.0004005690570920706}
0.454#VFR_HUD {airspeed : 0.02361982874572277, groundspeed : 0.01919965073466301, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.013757533393800259}
0.455#AHRS2 {roll : 0.04820406436920166, pitch : 0.03829224407672882, yaw : -2.891120433807373, altitude : 1215.0899658203125, lat : -248223496, lng : -654656089}
0.455#GLOBAL_POSITION_INT {time_boot_ms : 151451, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -37, vx : 1, vy : 0, vz : 1, hdg : 19382}
0.455#SYSTEM_TIME {time_unix_usec : 1721322142045537, time_boot_ms : 151451}
0.455#AHRS {omegaIx : -5.7819557696348056e-05, omegaIy : 0.0012699896469712257, omegaIz : 0.0003080586902797222, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.006178591400384903, error_yaw : 0.0022871310357004404}
0.455#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.455#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.455#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151451, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.455#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.025891581550240517, pos_horiz_variance : 0.0011004706611856818, pos_vert_variance : 0.0016597240464761853, compass_variance : 0.004440502263605595, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.455#LOCAL_POSITION_NED {time_boot_ms : 151451, x : 1.4204533100128174, y : 0.4305720627307892, z : -0.7825483083724976, vx : 0.016952812671661377, vy : -0.009746079333126545, vz : 0.013272513635456562}
0.455#VIBRATION {time_usec : 151451895, vibration_x : 0.2551039457321167, vibration_y : 0.15811662375926971, vibration_z : 0.24908876419067383, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.594#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.594#ATTITUDE {time_boot_ms : 151526, roll : 0.041337497532367706, pitch : 0.043264441192150116, yaw : -2.900538444519043, rollspeed : -0.0001638780813664198, pitchspeed : 0.0007263298612087965, yawspeed : -0.0004262102593202144}
0.594#VFR_HUD {airspeed : 0.02357342652976513, groundspeed : 0.019817093387246132, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.012766721658408642}
0.594#AHRS2 {roll : 0.04806193336844444, pitch : 0.03819340094923973, yaw : -2.8911521434783936, altitude : 1215.3900146484375, lat : -248223496, lng : -654656089}
0.595#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 151549209}
0.595#ATTITUDE {time_boot_ms : 151626, roll : 0.04133182764053345, pitch : 0.04325467348098755, yaw : -2.9005141258239746, rollspeed : -0.00023084372514858842, pitchspeed : -0.0004373615374788642, yawspeed : 1.7044454580172896e-05}
0.595#VFR_HUD {airspeed : 0.02353801392018795, groundspeed : 0.020135995000600815, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.012189330533146858}
0.595#AHRS2 {roll : 0.047919586300849915, pitch : 0.03803684189915657, yaw : -2.891179084777832, altitude : 1215.52001953125, lat : -248223496, lng : -654656089}
0.595#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 288, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
0.595#POWER_STATUS {Vcc : 4992, Vservo : 0, flags : 1}
0.595#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558216}
0.595#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633024354930967, nav_pitch : 0.00031254644272848964, nav_bearing : -166, target_bearing : 197, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
0.595#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
0.595#SERVO_OUTPUT_RAW {time_usec : 151679512, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
0.612#RC_CHANNELS {time_boot_ms : 151679, chancount : 16, chan1_raw : 1495, chan2_raw : 1496, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
0.612#RAW_IMU {time_usec : 151679599, xacc : 41, yacc : 23, zacc : -1002, xgyro : 0, ygyro : -1, zgyro : 0, xmag : -190, ymag : 82, zmag : -90, id : 0, temperature : 4480}
0.612#SCALED_IMU2 {time_boot_ms : 151679, xacc : 37, yacc : 15, zacc : -1000, xgyro : 1, ygyro : -1, zgyro : -2, xmag : -183, ymag : 84, zmag : -126, temperature : 4475}
0.709#SCALED_IMU3 {time_boot_ms : 151681, xacc : 44, yacc : 32, zacc : -994, xgyro : 0, ygyro : -2, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
0.709#SCALED_PRESSURE {time_boot_ms : 151681, press_abs : 876.916259765625, press_diff : 0.0, temperature : 4155, temperature_press_diff : 0}
0.709#SCALED_PRESSURE2 {time_boot_ms : 151681, press_abs : 876.519775390625, press_diff : 0.0, temperature : 4775, temperature_press_diff : 0}
0.709#GPS_RAW_INT {time_usec : 151598000, fix_type : 4, lat : -248223496, lon : -654656090, alt : 1216290, eph : 46, epv : 89, vel : 4, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244296, h_acc : 532, v_acc : 1045, vel_acc : 112, hdg_acc : 0, yaw : 0}
0.709#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
0.709#ATTITUDE {time_boot_ms : 151726, roll : 0.04134172201156616, pitch : 0.043249428272247314, yaw : -2.900498151779175, rollspeed : -0.000493038387503475, pitchspeed : 0.0002603620523586869, yawspeed : -5.536255775950849e-05}
0.709#VFR_HUD {airspeed : 0.0235417690128088, groundspeed : 0.02051740512251854, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.01154344156384468}
0.709#AHRS2 {roll : 0.047965824604034424, pitch : 0.03801838308572769, yaw : -2.8911705017089844, altitude : 1215.659912109375, lat : -248223496, lng : -654656090}
0.709#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 3, mavlink_version : 3}
0.709#GLOBAL_POSITION_INT {time_boot_ms : 151784, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -37, vx : 1, vy : -1, vz : 1, hdg : 19382}
0.709#SYSTEM_TIME {time_unix_usec : 1721322142377993, time_boot_ms : 151784}
0.709#AHRS {omegaIx : -5.687996599590406e-05, omegaIy : 0.001269604777917266, omegaIz : 0.0003088519733864814, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.005688878241926432, error_yaw : 0.0035271714441478252}
0.709#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.709#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.774#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151784, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.774#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.013829418458044529, pos_horiz_variance : 0.00219287583604455, pos_vert_variance : 0.0036432603374123573, compass_variance : 0.0023722380865365267, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.774#LOCAL_POSITION_NED {time_boot_ms : 151784, x : 1.4248331785202026, y : 0.4249710142612457, z : -0.7825162410736084, vx : 0.015414279885590076, vy : -0.014556881971657276, vz : 0.010714537464082241}
0.774#VIBRATION {time_usec : 151784289, vibration_x : 0.2517070472240448, vibration_y : 0.15528954565525055, vibration_z : 0.2488945871591568, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.774#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.774#ATTITUDE {time_boot_ms : 151826, roll : 0.04135309159755707, pitch : 0.04324429854750633, yaw : -2.9004788398742676, rollspeed : -8.27736803330481e-05, pitchspeed : 0.0003929726080968976, yawspeed : 0.00016553144087083638}
0.774#VFR_HUD {airspeed : 0.024039251729846, groundspeed : 0.02149271033704281, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010767960920929909}
0.774#AHRS2 {roll : 0.048039961606264114, pitch : 0.038019441068172455, yaw : -2.8912365436553955, altitude : 1215.3599853515625, lat : -248223496, lng : -654656091}
0.872#ATTITUDE {time_boot_ms : 151926, roll : 0.04136533662676811, pitch : 0.04323793575167656, yaw : -2.9005143642425537, rollspeed : -0.00036266594543121755, pitchspeed : -5.7745957747101784e-05, yawspeed : -0.0003787594032473862}
0.872#VFR_HUD {airspeed : 0.027607478201389313, groundspeed : 0.02554621361196041, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010467277839779854}
0.872#AHRS2 {roll : 0.048139434307813644, pitch : 0.03835280239582062, yaw : -2.891343355178833, altitude : 1215.6400146484375, lat : -248223496, lng : -654656091}
0.969#ATTITUDE {time_boot_ms : 152026, roll : 0.04137887805700302, pitch : 0.043201446533203125, yaw : -2.9005517959594727, rollspeed : 0.0001221345883095637, pitchspeed : -0.0004617067752406001, yawspeed : -0.00019673150382004678}
0.969#VFR_HUD {airspeed : 0.030892223119735718, groundspeed : 0.029218634590506554, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010030005127191544}
0.969#AHRS2 {roll : 0.04824671521782875, pitch : 0.03871333226561546, yaw : -2.891446352005005, altitude : 1215.2899169921875, lat : -248223496, lng : -654656092}
0.986#HEARTBEAT {type : 6, autopilot : 8, base_mode : 192, custom_mode : 0, system_status : 4, mavlink_version : 3}
1.053#RADIO_STATUS {rssi : 128, remrssi : 130, txbuf : 100, noise : 44, remnoise : 31, rxerrors : 13, fixed : 0}
1.133#GLOBAL_POSITION_INT {time_boot_ms : 152119, lat : -248223496, lon : -654656091, alt : 1214680, relative_alt : -38, vx : 1, vy : -2, vz : 0, hdg : 19381}
1.133#SYSTEM_TIME {time_unix_usec : 1721322142713394, time_boot_ms : 152119}
1.133#AHRS {omegaIx : -5.622482785838656e-05, omegaIy : 0.0012693911558017135, omegaIz : 0.0003079563321080059, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.008830656297504902, error_yaw : 0.005813355091959238}
1.133#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.133#TERRAIN_REPORT {lat : -248223496, lon : -654656091, spacing : 100, terrain_height : 1214.720458984375, current_height : -0.040486134588718414, pending : 0, loaded : 504}
1.215#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152119, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.216#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.01519289705902338, pos_horiz_variance : 0.0007665579905733466, pos_vert_variance : 0.014890692196786404, compass_variance : 0.0012976241996511817, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.216#LOCAL_POSITION_NED {time_boot_ms : 152119, x : 1.4312973022460938, y : 0.41146141290664673, z : -0.7812564969062805, vx : 0.019533641636371613, vy : -0.025305120274424553, vz : 0.009754973463714123}
1.216#VIBRATION {time_usec : 152121668, vibration_x : 0.25506487488746643, vibration_y : 0.1570746898651123, vibration_z : 0.2549603581428528, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.216#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.216#ATTITUDE {time_boot_ms : 152126, roll : 0.0413883700966835, pitch : 0.043218523263931274, yaw : -2.9005911350250244, rollspeed : 8.323424845002592e-05, pitchspeed : -0.00010048632975667715, yawspeed : 1.191330375149846e-05}
1.216#VFR_HUD {airspeed : 0.033466774970293045, groundspeed : 0.032077912241220474, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.009541094303131104}
1.216#AHRS2 {roll : 0.04813254252076149, pitch : 0.03870527446269989, yaw : -2.8915364742279053, altitude : 1215.8099365234375, lat : -248223496, lng : -654656091}
1.216#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 279, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
1.216#POWER_STATUS {Vcc : 5006, Vservo : 0, flags : 1}
1.216#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
1.216#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633030175697058, nav_pitch : 0.0003125464136246592, nav_bearing : -166, target_bearing : 136, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
1.216#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
1.216#SERVO_OUTPUT_RAW {time_usec : 152179528, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
1.312#RAW_IMU {time_usec : 152179558, xacc : 42, yacc : 24, zacc : -1001, xgyro : 0, ygyro : 0, zgyro : 0, xmag : -192, ymag : 80, zmag : -112, id : 0, temperature : 4480}
1.312#SCALED_IMU2 {time_boot_ms : 152179, xacc : 36, yacc : 16, zacc : -1002, xgyro : 1, ygyro : 1, zgyro : -1, xmag : -181, ymag : 95, zmag : -124, temperature : 4475}
1.312#SCALED_IMU3 {time_boot_ms : 152179, xacc : 44, yacc : 33, zacc : -993, xgyro : 0, ygyro : -1, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
1.312#SCALED_PRESSURE {time_boot_ms : 152179, press_abs : 876.8868408203125, press_diff : 0.0, temperature : 4158, temperature_press_diff : 0}
1.312#SCALED_PRESSURE2 {time_boot_ms : 152179, press_abs : 876.526611328125, press_diff : 0.0, temperature : 4774, temperature_press_diff : 0}
1.312#GPS_RAW_INT {time_usec : 151998000, fix_type : 4, lat : -248223496, lon : -654656091, alt : 1216280, eph : 46, epv : 89, vel : 3, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 532, v_acc : 1046, vel_acc : 152, hdg_acc : 0, yaw : 0}
1.313#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
1.313#ATTITUDE {time_boot_ms : 152226, roll : 0.041384853422641754, pitch : 0.04324842989444733, yaw : -2.9005889892578125, rollspeed : -0.0001681109715718776, pitchspeed : 0.000350833754055202, yawspeed : -1.8184073269367218e-07}
1.313#VFR_HUD {airspeed : 0.03601716086268425, groundspeed : 0.0348464660346508, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.009108217433094978}
1.313#AHRS2 {roll : 0.047966357320547104, pitch : 0.03863370791077614, yaw : -2.891616106033325, altitude : 1215.43994140625, lat : -248223496, lng : -654656091}
1.313#ATTITUDE {time_boot_ms : 152326, roll : 0.04139547795057297, pitch : 0.04326222464442253, yaw : -2.9006025791168213, rollspeed : -3.857442061416805e-05, pitchspeed : -4.308647476136684e-06, yawspeed : 1.534423790872097e-05}
1.313#VFR_HUD {airspeed : 0.03637024760246277, groundspeed : 0.0352802611887455, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008837312459945679}
1.313#AHRS2 {roll : 0.04776778444647789, pitch : 0.03861024230718613, yaw : -2.8916563987731934, altitude : 1215.5399169921875, lat : -248223496, lng : -654656091}
1.394#ATTITUDE {time_boot_ms : 152426, roll : 0.04133867099881172, pitch : 0.04331338405609131, yaw : -2.901050090789795, rollspeed : -0.0045197210274636745, pitchspeed : 0.002322921995073557, yawspeed : -0.04437468200922012}
1.394#VFR_HUD {airspeed : 0.039477359503507614, groundspeed : 0.038452714681625366, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008935920894145966}
1.394#AHRS2 {roll : 0.04749118909239769, pitch : 0.038636792451143265, yaw : -2.8921732902526855, altitude : 1215.489990234375, lat : -248223496, lng : -654656091}
1.394#GLOBAL_POSITION_INT {time_boot_ms : 152451, lat : -248223495, lon : -654656092, alt : 1214680, relative_alt : -38, vx : 2, vy : -2, vz : 0, hdg : 19379}
1.394#SYSTEM_TIME {time_unix_usec : 1721322143045473, time_boot_ms : 152451}
1.394#AHRS {omegaIx : -5.641129246214405e-05, omegaIy : 0.0012693367898464203, omegaIz : 0.00030746872653253376, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.00850124191492796, error_yaw : 0.007760703098028898}
1.394#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.394#TERRAIN_REPORT {lat : -248223495, lon : -654656092, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.040608204901218414, pending : 0, loaded : 504}
1.394#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152451, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.394#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.014218415133655071, pos_horiz_variance : 0.002641690196469426, pos_vert_variance : 0.0018674448365345597, compass_variance : 0.0014068859163671732, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.394#LOCAL_POSITION_NED {time_boot_ms : 152451, x : 1.4379793405532837, y : 0.4020492136478424, z : -0.781585156917572, vx : 0.021135417744517326, vy : -0.025480208918452263, vz : 0.00899268127977848}
1.394#VIBRATION {time_usec : 152451826, vibration_x : 0.32375141978263855, vibration_y : 0.3324134647846222, vibration_z : 0.31057485938072205, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.394#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.394#ATTITUDE {time_boot_ms : 152526, roll : 0.041392430663108826, pitch : 0.04334701597690582, yaw : -2.9010674953460693, rollspeed : 0.003757252125069499, pitchspeed : 0.004372757859528065, yawspeed : -0.01563824713230133}
1.411#VFR_HUD {airspeed : 0.03617529198527336, groundspeed : 0.03499964252114296, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.00914748664945364}
1.411#AHRS2 {roll : 0.04752922058105469, pitch : 0.03857329487800598, yaw : -2.892289400100708, altitude : 1215.18994140625, lat : -248223496, lng : -654656092}
1.411#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 152549152}
1.639#ATTITUDE {time_boot_ms : 152626, roll : 0.0415181964635849, pitch : 0.043396759778261185, yaw : -2.9005613327026367, rollspeed : 0.007323659490793943, pitchspeed : 0.0007577112992294133, yawspeed : 0.01801353320479393}
1.639#VFR_HUD {airspeed : 0.03718849644064903, groundspeed : 0.03617807477712631, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008609961718320847}
1.639#AHRS2 {roll : 0.047676876187324524, pitch : 0.03851168230175972, yaw : -2.891770839691162, altitude : 1215.409912109375, lat : -248223496, lng : -654656092}
1.639#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 289, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
1.639#POWER_STATUS {Vcc : 5004, Vservo : 0, flags : 1}
1.639#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
1.639#NAV_CONTROLLER_OUTPUT {nav_roll : 0.0001363303599646315, nav_pitch : 0.0003125464718323201, nav_bearing : -166, target_bearing : 129, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
1.639#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
1.639#SERVO_OUTPUT_RAW {time_usec : 152679533, port : 0, servo1_raw : 1143, servo2_raw : 1143, servo3_raw : 1143, servo4_raw : 1143, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
1.639#RC_CHANNELS {time_boot_ms : 152679, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
1.640#RAW_IMU {time_usec : 152679563, xacc : 37, yacc : 11, zacc : -1002, xgyro : -3, ygyro : 1, zgyro : -13, xmag : -190, ymag : 80, zmag : -113, id : 0, temperature : 4480}
1.640#SCALED_IMU2 {time_boot_ms : 152679, xacc : 35, yacc : 6, zacc : -1005, xgyro : -2, ygyro : 4, zgyro : -13, xmag : -178, ymag : 65, zmag : -128, temperature : 4462}
1.640#SCALED_IMU3 {time_boot_ms : 152679, xacc : 39, yacc : 19, zacc : -994, xgyro : -2, ygyro : 1, zgyro : -10, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
1.640#SCALED_PRESSURE {time_boot_ms : 152679, press_abs : 876.9273071289062, press_diff : 0.0, temperature : 4157, temperature_press_diff : 0}
1.640#SCALED_PRESSURE2 {time_boot_ms : 152679, press_abs : 876.5059204101562, press_diff : 0.0, temperature : 4775, temperature_press_diff : 0}
1.640#GPS_RAW_INT {time_usec : 152598000, fix_type : 4, lat : -248223496, lon : -654656092, alt : 1216280, eph : 46, epv : 89, vel : 0, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 534, v_acc : 1048, vel_acc : 196, hdg_acc : 0, yaw : 0}
1.640#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
1.640#ATTITUDE {time_boot_ms : 152726, roll : 0.04124574363231659, pitch : 0.04317609220743179, yaw : -2.9005115032196045, rollspeed : -0.01328650675714016, pitchspeed : -0.01137438602745533, yawspeed : 0.003574173431843519}
1.740#VFR_HUD {airspeed : 0.03755100071430206, groundspeed : 0.0362522229552269, heading : 193, throttle : 1, alt : 1214.669921875, climb : -0.009790509939193726}
1.740#AHRS2 {roll : 0.04719194024801254, pitch : 0.0383024699985981, yaw : -2.8918111324310303, altitude : 1215.8299560546875, lat : -248223496, lng : -654656092}
1.740#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 3, mavlink_version : 3}
1.740#GLOBAL_POSITION_INT {time_boot_ms : 152784, lat : -248223495, lon : -654656092, alt : 1214670, relative_alt : -42, vx : 1, vy : -2, vz : 0, hdg : 19381}
1.740#SYSTEM_TIME {time_unix_usec : 1721322143377971, time_boot_ms : 152784}
1.740#AHRS {omegaIx : -5.632868851535022e-05, omegaIy : 0.0012695855693891644, omegaIz : 0.0003065349883399904, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.009260504506528378, error_yaw : 0.007343305740505457}
1.740#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.740#TERRAIN_REPORT {lat : -248223495, lon : -654656092, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.05060820281505585, pending : 0, loaded : 504}
1.741#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152784, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.741#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.012581607326865196, pos_horiz_variance : 0.002325657522305846, pos_vert_variance : 0.012609380297362804, compass_variance : 0.00249279267154634, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.741#LOCAL_POSITION_NED {time_boot_ms : 152784, x : 1.438661813735962, y : 0.3957558274269104, z : -0.7779499292373657, vx : 0.01849265769124031, vy : -0.02677425555884838, vz : 0.008440864272415638}
1.741#VIBRATION {time_usec : 152786649, vibration_x : 0.74409019947052, vibration_y : 0.7597215175628662, vibration_z : 0.7097615599632263, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.741#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.741#ATTITUDE {time_boot_ms : 152827, roll : 0.041060224175453186, pitch : 0.04249819740653038, yaw : -2.9007787704467773, rollspeed : -0.0022688827011734247, pitchspeed : 0.0002776080509647727, yawspeed : -0.009606200270354748}
1.741#VFR_HUD {airspeed : 0.03666487708687782, groundspeed : 0.03512085601687431, heading : 193, throttle : 6, alt : 1214.669921875, climb : -0.01052799541503191}
1.741#AHRS2 {roll : 0.046758171170949936, pitch : 0.037658922374248505, yaw : -2.892155408859253, altitude : 1215.5799560546875, lat : -248223496, lng : -654656092}
1.902#ATTITUDE {time_boot_ms : 152926, roll : 0.04093289375305176, pitch : 0.04278668388724327, yaw : -2.9007997512817383, rollspeed : -0.0034352773800492287, pitchspeed : 0.010863939300179482, yawspeed : 0.0007449851837009192}
1.902#VFR_HUD {airspeed : 0.03422870114445686, groundspeed : 0.033072832971811295, heading : 193, throttle : 11, alt : 1214.669921875, climb : -0.008819949813187122}
1.902#AHRS2 {roll : 0.04669957980513573, pitch : 0.0381181463599205, yaw : -2.892224073410034, altitude : 1216.1199951171875, lat : -248223495, lng : -654656092}
1.902#ATTITUDE {time_boot_ms : 153026, roll : 0.040654443204402924, pitch : 0.04347338527441025, yaw : -2.9009926319122314, rollspeed : -0.0033446666784584522, pitchspeed : 0.0075268493965268135, yawspeed : 0.0005815348122268915}
1.903#VFR_HUD {airspeed : 0.032045330852270126, groundspeed : 0.030527159571647644, heading : 193, throttle : 16, alt : 1214.669921875, climb : -0.009746581315994263}
1.903#AHRS2 {roll : 0.04654644802212715, pitch : 0.03899935632944107, yaw : -2.892460823059082, altitude : 1215.7099609375, lat : -248223495, lng : -654656092}
1.965#HEARTBEAT {type : 6, autopilot : 8, base_mode : 192, custom_mode : 0, system_status : 4, mavlink_version : 3}
2.019#GLOBAL_POSITION_INT {time_boot_ms : 153116, lat : -248223495, lon : -654656093, alt : 1214680, relative_alt : -36, vx : 2, vy : 0, vz : 0, hdg : 19375}
2.019#SYSTEM_TIME {time_unix_usec : 1721322143710742, time_boot_ms : 153116}
2.019#AHRS {omegaIx : -5.6622422562213615e-05, omegaIy : 0.001270167762413621, omegaIz : 0.00030629889806732535, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.012371149845421314, error_yaw : 0.006612270604819059}
2.019#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
2.019#TERRAIN_REPORT {lat : -248223495, lon : -654656093, spacing : 100, terrain_height : 1214.720703125, current_height : -0.040730275213718414, pending : 0, loaded : 504}
2.189#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 153117, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
2.189#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.03469530865550041, pos_horiz_variance : 0.0011779669439420104, pos_vert_variance : 0.005692417733371258, compass_variance : 0.0008580227149650455, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
2.189#LOCAL_POSITION_NED {time_boot_ms : 153117, x : 1.4446099996566772, y : 0.39300239086151123, z : -0.7836567163467407, vx : 0.020115720108151436, vy : -0.006414598319679499, vz : 0.006934020202606916}
2.189#VIBRATION {time_usec : 153117105, vibration_x : 3.018984079360962, vibration_y : 3.5547678470611572, vibration_z : 2.712759494781494, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
2.189#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
2.189#ATTITUDE {time_boot_ms : 153127, roll : 0.03973337262868881, pitch : 0.0447709783911705, yaw : -2.901826858520508, rollspeed : -0.012004819698631763, pitchspeed : 0.01146665122359991, yawspeed : -0.011916037648916245}
2.189#VFR_HUD {airspeed : 0.02108651213347912, groundspeed : 0.020043522119522095, heading : 193, throttle : 21, alt : 1214.679931640625, climb : -0.0065496754832565784}
2.189#AHRS2 {roll : 0.045806460082530975, pitch : 0.040688641369342804, yaw : -2.8933026790618896, altitude : 1215.449951171875, lat : -248223494, lng : -654656092}
2.189#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 283, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
2.189#POWER_STATUS {Vcc : 4969, Vservo : 0, flags : 1}
2.189#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
2.191#NAV_CONTROLLER_OUTPUT {nav_roll : 0.0001363303599646315, nav_pitch : 0.00031254644272848964, nav_bearing : -166, target_bearing : 133, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
2.191#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
2.191#SERVO_OUTPUT_RAW {time_usec : 153179533, port : 0, servo1_raw : 1501, servo2_raw : 1500, servo3_raw : 1468, servo4_raw : 1526, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
2.275#RC_CHANNELS {time_boot_ms : 153179, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
2.275#RAW_IMU {time_usec : 153179566, xacc : 43, yacc : 2, zacc : -1004, xgyro : -9, ygyro : 22, zgyro : -3, xmag : -195, ymag : 81, zmag : -115, id : 0, temperature : 4480}
2.275#SCALED_IMU2 {time_boot_ms : 153179, xacc : 49, yacc : 3, zacc : -1005, xgyro : -7, ygyro : 20, zgyro : -4, xmag : -189, ymag : -94, zmag : -150, temperature : 4462}
2.275#SCALED_IMU3 {time_boot_ms : 153179, xacc : 49, yacc : 15, zacc : -996, xgyro : -8, ygyro : 21, zgyro : -3, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
2.275#SCALED_PRESSURE {time_boot_ms : 153179, press_abs : 876.9224853515625, press_diff : 0.0, temperature : 4158, temperature_press_diff : 0}
2.276#SCALED_PRESSURE2 {time_boot_ms : 153179, press_abs : 876.5179443359375, press_diff : 0.0, temperature : 4776, temperature_press_diff : 0}
2.276#RADIO_STATUS {rssi : 128, remrssi : 126, txbuf : 100, noise : 54, remnoise : 30, rxerrors : 13, fixed : 0}
2.276#GPS_RAW_INT {time_usec : 152998000, fix_type : 4, lat : -248223495, lon : -654656092, alt : 1216300, eph : 46, epv : 89, vel : 6, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244305, h_acc : 534, v_acc : 1050, vel_acc : 166, hdg_acc : 0, yaw : 0}
2.276#MCU_STATUS {id : 0, MCU_temperature : 4335, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
2.276#ATTITUDE {time_boot_ms : 153226, roll : 0.03879866749048233, pitch : 0.04689084738492966, yaw : -2.9028477668762207, rollspeed : -0.00967428833246231, pitchspeed : 0.034133344888687134, yawspeed : -0.012875068001449108}
2.276#VFR_HUD {airspeed : 0.02655843459069729, groundspeed : 0.02606714516878128, heading : 193, throttle : 26, alt : 1214.679931640625, climb : -0.005084725562483072}
2.276#AHRS2 {roll : 0.045058514922857285, pitch : 0.04323218762874603, yaw : -2.8943846225738525, altitude : 1215.969970703125, lat : -248223494, lng : -654656092}
2.276#ATTITUDE {time_boot_ms : 153326, roll : 0.03834676742553711, pitch : 0.052545372396707535, yaw : -2.9052419662475586, rollspeed : -0.025917937979102135, pitchspeed : 0.07496418803930283, yawspeed : -0.02651198022067547}
2.276#VFR_HUD {airspeed : 0.05054142326116562, groundspeed : 0.04901775345206261, heading : 193, throttle : 31, alt : 1214.68994140625, climb : 0.012316483072936535}
2.290#AHRS2 {roll : 0.04446762427687645, pitch : 0.048542629927396774, yaw : -2.8967697620391846, altitude : 1215.530029296875, lat : -248223494, lng : -654656093}
2.419#ATTITUDE {time_boot_ms : 153426, roll : 0.033433541655540466, pitch : 0.061414361000061035, yaw : -2.9080915451049805, rollspeed : -0.11833763867616653, pitchspeed : 0.08032462745904922, yawspeed : -0.038566406816244125}
2.419#VFR_HUD {airspeed : 0.11701441556215286, groundspeed : 0.08306063711643219, heading : 193, throttle : 33, alt : 1214.699951171875, climb : 0.08242150396108627}
2.419#AHRS2 {roll : 0.03935699164867401, pitch : 0.05693113058805466, yaw : -2.899629592895508, altitude : 1215.3299560546875, lat : -248223494, lng : -654656093}
2.419#GLOBAL_POSITION_INT {time_boot_ms : 153449, lat : -248223493, lon : -654656093, alt : 1214700, relative_alt : -12, vx : 9, vy : 0, vz : -8, hdg : 19333}
2.419#SYSTEM_TIME {time_unix_usec : 1721322144043018, time_boot_ms : 153449}
2.419#AHRS {omegaIx : -5.6823591876309365e-05, omegaIy : 0.001269437139853835, omegaIz : 0.0003056102432310581, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.017015181481838226, error_yaw : 0.00599799957126379}
2.419#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
2.419#TERRAIN_REPORT {lat : -248223493, lon : -654656093, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.02060820534825325, pending : 0, loaded : 504}
2.419#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 153449, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
2.420#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.015289516188204288, pos_horiz_variance : 0.0016581359086558223, pos_vert_variance : 0.0037424955517053604, compass_variance : 0.0025224348064512014, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
2.420#LOCAL_POSITION_NED {time_boot_ms : 153449, x : 1.4609142541885376, y : 0.3900658190250397, z : -0.8073655962944031, vx : 0.09632477909326553, vy : -0.000845686299726367, vz : -0.08322469145059586}
2.420#VIBRATION {time_usec : 153449312, vibration_x : 5.778928756713867, vibration_y : 7.289006233215332, vibration_z : 6.329729080200195, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
2.521#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
2.521#ATTITUDE {time_boot_ms : 153526, roll : 0.022558405995368958, pitch : 0.0557670071721077, yaw : -2.9101619720458984, rollspeed : -0.13549961149692535, pitchspeed : -0.17236226797103882, yawspeed : -0.002185871358960867}
2.521#VFR_HUD {airspeed : 0.20335379242897034, groundspeed : 0.12495724856853485, heading : 193, throttle : 34, alt : 1214.7099609375, climb : 0.16043208539485931}
2.521#AHRS2 {roll : 0.028115326538681984, pitch : 0.05144461244344711, yaw : -2.901744842529297, altitude : 1215.6199951171875, lat : -248223494, lng : -654656093}
2.521#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 153549223}
2.522#ATTITUDE {time_boot_ms : 153626, roll : 0.016994576901197433, pitch : 0.03272715210914612, yaw : -2.9085400104522705, rollspeed : 0.028980914503335953, pitchspeed : -0.2715185880661011, yawspeed : 0.011382917873561382}
2.522#VFR_HUD {airspeed : 0.2974493205547333, groundspeed : 0.1735268086194992, heading : 193, throttle : 35, alt : 1214.739990234375, climb : 0.2415875494480133}
2.522#AHRS2 {roll : 0.022132128477096558, pitch : 0.028659740462899208, yaw : -2.9003489017486572, altitude : 1214.7899169921875, lat : -248223494, lng : -654656093}
2.649#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 294, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
2.649#POWER_STATUS {Vcc : 4959, Vservo : 0, flags : 1}
2.650#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558432}
2.650#NAV_CONTROLLER_OUTPUT {nav_roll : 0.4259248375892639, nav_pitch : -2.8238747119903564, nav_bearing : -166, target_bearing : 162, wp_dist : 0, alt_error : -0.0043000029399991035, aspd_error : 0.0, xtrack_error : 0.016162684187293053}
2.650#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
2.650#SERVO_OUTPUT_RAW {time_usec : 153679484, port : 0, servo1_raw : 1630, servo2_raw : 1628, servo3_raw : 1590, servo4_raw : 1655, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
2.650#RC_CHANNELS {time_boot_ms : 153679, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
2.650#RAW_IMU {time_usec : 153679518, xacc : -6, yacc : 28, zacc : -1086, xgyro : 157, ygyro : -282, zgyro : 29, xmag : -195, ymag : 85, zmag : -118, id : 0, temperature : 4480}
2.650#SCALED_IMU2 {time_boot_ms : 153679, xacc : -9, yacc : 24, zacc : -1076, xgyro : 158, ygyro : -281, zgyro : 32, xmag : -185, ymag : -190, zmag : -174, temperature : 4462}
2.650#SCALED_IMU3 {time_boot_ms : 153679, xacc : -4, yacc : 35, zacc : -1074, xgyro : 160, ygyro : -282, zgyro : 31, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
2.650#SCALED_PRESSURE {time_boot_ms : 153679, press_abs : 876.9887084960938, press_diff : 0.0, temperature : 4161, temperature_press_diff : 0}
2.650#SCALED_PRESSURE2 {time_boot_ms : 153679, press_abs : 876.4749755859375, press_diff : 0.0, temperature : 4776, temperature_press_diff : 0}
2.650#GPS_RAW_INT {time_usec : 153598000, fix_type : 4, lat : -248223493, lon : -654656093, alt : 1216310, eph : 46, epv : 89, vel : 9, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244316, h_acc : 536, v_acc : 1053, vel_acc : 200, hdg_acc : 0, yaw : 0}
2.776#MCU_STATUS {id : 0, MCU_temperature : 4337, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
2.776#ATTITUDE {time_boot_ms : 153726, roll : 0.02793148159980774, pitch : 0.005534936208277941, yaw : -2.9040167331695557, rollspeed : 0.060166504234075546, pitchspeed : -0.25215110182762146, yawspeed : 0.04192686825990677}
2.777#VFR_HUD {airspeed : 0.3613681495189667, groundspeed : 0.19893430173397064, heading : 193, throttle : 36, alt : 1214.760009765625, climb : 0.30168208479881287}
2.777#AHRS2 {roll : 0.03282030671834946, pitch : 0.001624832395464182, yaw : -2.8959829807281494, altitude : 1215.4000244140625, lat : -248223492, lng : -654656092}
2.777#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 4, mavlink_version : 3}
2.777#GLOBAL_POSITION_INT {time_boot_ms : 153784, lat : -248223490, lon : -654656092, alt : 1214780, relative_alt : 68, vx : 18, vy : 8, vz : -35, hdg : 19381}
2.777#SYSTEM_TIME {time_unix_usec : 1721322144377972, time_boot_ms : 153784}
2.777#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}

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I recognize that the Here4 is not an “Ardupilot” project, but I figured I’d get some traction here from people who have used AP_Periph.

Using a CubeOrange+ running 4.5.7, and a Here4 Blue running HW: 4.19 SW: 1.14.5AC6523C

Is DroneCAN GPS autoconfig supported from the autopilot side, passing through to the periph, and if so, what gps settings are necessary on the periph to allow the passthrough? I currently have a working setup to the point where the cube recognizes the gps and compass from the periph, but I’m noticing that I am only able to autoconfig from the DroneCAN periph params in Mission Planner, and not from the cube. On the cube, I have GPS_AUTO_CONFIG=2 and GPS_TYPE=9, and on the periph I have GPS_AUTO_CONFIG=1 and GPS_TYPE=1. I’ve experimented with GPS_TYPE=2 and GPS_AUTO_CONFIG=2 on the periph to no apparent effect.

Along these lines, using ucenter and passthrough I can see RAWX messages coming from the device, but they are not being captured in ardupilot’s log in spite of GPS_RAW_DATA being set to 1 on both the cube and the periph

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I am using the M5 stack Mini unit-IMU pro and unable to configrable with blitzH7-pro flight controller. this is the I2C based module integrated with FC. but unable to config on mission planner .the BMP280 barometer is configrable and both baro meter are working first is of FC and second is of imu module but the bmm 150 and bmi270 are unbale to config and not visible on my setup even i have changed the configration. If anybody know what can i do then please tell . i have to use both FC imu and MOdule IMu at a same time .and use both compass gps as well as module compass.

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Hi Ardupilot family,

In Qgc, in the firmware page, I have this data with my pixhawk 2.4.8:

Found device: ArduPilot ChibiOS
Connected to bootloader:
Version: 5
Board ID: 9
Flash size: 1032192

From what I understand I have a pixhawk 1 and there must be a bootloader problem.

As seen in another page, I tried this solution:

[joy123]

Apr 2024

I got a solution here:

I was going through the discussions to update the bootloader to from 4 to 5. If you are using pixhawk with 2.4.8 which as 2 mb flash but cant upload v3 firmware due to bootloader version 4, here is what worked for me: Download any fmuv3 firmware with bootloader which must be less than 1mb if you are using fmuv2. I downloaded ardusub firmware with bootloader. Open mission planner and select custom firmware. select board type fmuv3 and flash this firmware. Reboot and connect by mavlink. Go to inst…

But in mission planner a have an error like this :

It seems to come from the .hex, I tried several but I have the same problem.
Does anyone have an idea?

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I ran a static test of my quad in my basement - I used ceramic tiles laid across the landing skids to secure it to the ground while throttling it up with propellers attached. I had the flight mode set to Stabilize.

After arming the aircraft, I gently increased the throttle and the motors responded. But at some point, as I increased further, the motors suddenly spun up to a much higher level than I commanded, and they would not respond when I moved the stick to idle. I had to throw the arm/disarm switch in order to shut the motors down.

Has anyone experienced this sort of behavior? I’m afraid to take it out to the field for a test flight out of fear that it may suddenly go full throttle, and I won’t be able to control it without disarming it in flight.

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