Problem with mission and auto mode

February 2, 2025, 9:10 am

≫ Next: RTL causing unstable flight after it was flying well

≪ Previous: Problem with waypoints

$

0

0

Hi to all,

two years ago, I used Pixhawk 5X on a skid-steering vehicle with a dual GPS configuration and everything went fine, with no problems.
Today, I tried to use Pixhawk 6X on the same vehicle, but I’m having lots of problems mostly with auto mode and with the missions.

I’m using Mission Planner and I installed the ArduRover firmware version 4.5.7, I was able to configure the RC IN and OUT, so I can control the motors with the radio transmitter and I use CH5 to change from HOLD, MANUAL and AUTO.

If I try to switch to auto, it says “Flight mode change failed”.
If I try to send “mission start”, nothing happens.

Moreover, I see that the internal compasses are not recognized: is it normal?
This is a log coming from my Pixhawk.

Thank you

1 post - 1 participant

Read full topic

---

RTL causing unstable flight after it was flying well

February 2, 2025, 9:53 am

≫ Next: Arm/Disarm Message Not Displaying and Cant Disarm Via TX

≪ Previous: Problem with mission and auto mode

$

0

0

Looking for some advice/help. Today I was flying in loiter with what seemed a decent tune. I tried RTL and the quad became very unstable. Almost as if the gains were way too high. Please see below.

Series of events:
1)Today I ran autotune on my quad. It completed successfully. I went back to loiter then back to autotune for pilot testing. Like the changes so landed disarmed and it said saving parms.

2. I armed in loiter flew another short flight to get a 30 second hover. Landed disarmed.

3. Took off in loiter tested roll movements, tested pitch movements, flew a circle. Then I went near my take off location and tried an RTL. Once in RTL it started to shake more and more, I went back to Loiter but it was still getting worse so I set it down. The log is below and once can see the actual roll vs desired roll is much worse after the attempted RTL. Any ideas what would cause this.

Build
Cube Black copter v4.5.7
Here2 GPS
Quad
Motor T-Motor MN4014 330KV
ESC - TMotor F35A Dshot
Prop - 15”
All up weight 3.4kg

Log file is located here.

Parameters are here:

Stable Hover Video before RTL:

Attempted flight after the RTL (taking off in loiter):

5 posts - 2 participants

Read full topic

Arm/Disarm Message Not Displaying and Cant Disarm Via TX

February 2, 2025, 11:31 am

≫ Next: The motor of my boat doesn't spin

≪ Previous: RTL causing unstable flight after it was flying well

$

0

0

I am using a PIxhawk 6C in a differential thrust bathymetric boat. I have done all TX calibrations on my TX16S radio and can change modes and steer. However, I can only ARM my model and it won’t disarm via my RC5=153 switch.
I can ARM/DISARM via MP. In all instances, no ARMING or DISARMING message is displayed on the MP HUD . Arm Throttle and Disarm throttle messages do show up on the Messages tab.
Why is my TX16S switch not disarming and why is there no HUD display or ARM/DISARM state?

Thanks

2 posts - 2 participants

Read full topic

The motor of my boat doesn't spin

February 2, 2025, 12:10 pm

≫ Next: Heewing T2 VTOL Botched Parameter File

≪ Previous: Arm/Disarm Message Not Displaying and Cant Disarm Via TX

$

0

0

I think i’m not inelligent enough … i try to build my first boat with ardurover. it should be simple so far - one brushed motor with a bidirectional ESC connected at servo output 3 and one servo for steering at servo output 1. servo output 1 is set to “ground steering” which works wonderfull but the channel 3, which is set to “throttle” doesn’t seems to bring out any signal. When i change the option to “RC3in” the bar moves but there are no reactions at the motorside! The combination of ESC and brushed motor seems to be correct cause when i’m testing it with my servo tester it works fine between 500us and 2500us, where at est. 1500us the direction changes.
all these settings are set as discribed in the documentation, i think. I hope someone can give me a hint for what i’m doing wrong!
Thank you!

p.s.: oh sorry i use an old pixhawk clone 2.4.8

1 post - 1 participant

Read full topic

Heewing T2 VTOL Botched Parameter File

February 2, 2025, 3:04 pm

≫ Next: Forward Mavlink messages between two Programs

≪ Previous: The motor of my boat doesn't spin

$

0

0

Brand New user to Ardupilot here. I have a factory stock Heewing T2 Cruza Vtol with their proprietary f405 flight controller. I messed up settings and now nothing works. Would any of you guys happen to have a parameter file for the stock factory settings that are used with Arduplane 4.4.2? Ive been trying to figure this out for 3 days and im getting nowhere fast. If anybody has the correct firmware and parameter files, i would be much obliged. Thank you!

1 post - 1 participant

Read full topic

Forward Mavlink messages between two Programs

February 2, 2025, 3:22 pm

≫ Next: TFmini Plus Range Finder no data in short pulse

≪ Previous: Heewing T2 VTOL Botched Parameter File

$

0

0

(topic deleted by author)

1 post - 1 participant

Read full topic

TFmini Plus Range Finder no data in short pulse

February 2, 2025, 6:38 pm

≫ Next: The NEO-M8N GPS in Navio2 is not recognized by Mission planner

≪ Previous: Forward Mavlink messages between two Programs

$

0

0

I seems to have data missing in short pulse from the range finder as attached:

From my understanding, the stat meaning is as below:

enum class Status {
NotConnected = 0,
NoData,
OutOfRangeLow,
OutOfRangeHigh,
Good
};

So my RFND is changing from OutOfRangeHigh->NoData and Good->NoData in short pulse consitantly, can anyone help to provide some advice on how can i solve this issue, thanks in advance!!!

1 post - 1 participant

Read full topic

The NEO-M8N GPS in Navio2 is not recognized by Mission planner

February 2, 2025, 7:11 pm

≫ Next: Read and Write Parameters From Arduino

≪ Previous: TFmini Plus Range Finder no data in short pulse

$

0

0

Nice to meet you.

I would like to use GPS, but it is not loaded in Mission Planner and shows GPS:No GPS.
The FC I am using is a Navio2 and I would like to use the NEO-M8N which has GPS from the beginning.
The settings I believe to be relevant are shown in the figure below.
In u-center, the GPS appeared to be loaded.
I would appreciate as detailed an explanation as possible as I am a newbie when it comes to drones.
Thank you in advance.

4 posts - 3 participants

Read full topic

---

Read and Write Parameters From Arduino

February 2, 2025, 8:42 pm

≫ Next: Achieving precision loiter stability , AC-4.5.7

≪ Previous: The NEO-M8N GPS in Navio2 is not recognized by Mission planner

$

0

0

Hi,
I had a RPi Pico connected to the Copter and I can read the datastreams. But I need to write and read back some specific parameters.

I start trying to read back SYSID_THISMAV but not luck.

This is my current code in arduino:

#include <MAVLink.h>
unsigned long previousMillis = 0;
const long interval = 10000; // Interval for delay in milliseconds (e.g., 1000 ms = 1 second)
void setup() {
// Start hardware serial for debugging
Serial.begin(9600);
Serial1.setTX(0);
Serial1.setRX(1);
Serial1.begin(57600); // Baud rate for MAVLink
pinMode(LED_BUILTIN, OUTPUT);

delay(5000);
Serial.println(“request data”);
//Mav_Request_Data();

}
void loop() {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= interval) {
//digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)
// MAVLink config
/* The default UART header for your MCU */
int sysid = 1; ///< ID 20 for this airplane. 1 PX, 255 ground station
int compid = 158; ///< The component sending the message
int type = MAV_TYPE_QUADROTOR; ///< This system is an airplane / fixed wing

// Define the system type, in this case an airplane → on-board controller
uint8_t system_type = MAV_TYPE_GENERIC;
uint8_t autopilot_type = MAV_AUTOPILOT_INVALID;

uint8_t system_mode = MAV_MODE_PREFLIGHT; ///< Booting up
uint32_t custom_mode = 0; ///< Custom mode, can be defined by user/adopter
uint8_t system_state = MAV_STATE_STANDBY; ///< System ready for flight

// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];

// Pack the message
mavlink_msg_heartbeat_pack(10,0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);

// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

// Send the message with the standard UART send function
// uart0_send might be named differently depending on
// the individual microcontroller / library in use.

Serial1.write(buf, len);

}
// Check reception buffer
request();
comm_receive();

}
void request()
{
/mavlink_msg_param_request_read(
int16_t param_index; < Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
uint8_t target_system; < System ID
uint8_t target_component;< Component ID
char param_id[16]/
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
mavlink_msg_param_request_read_pack(10,1,&msg,1,0,“SYSID_THISMAV”,15);
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
Serial1.write(buf, len);

}

1 post - 1 participant

Read full topic

Achieving precision loiter stability , AC-4.5.7

February 2, 2025, 10:04 pm

≫ Next: Throttle response speed

≪ Previous: Read and Write Parameters From Arduino

$

0

0

Hello developers, thank you for your work on ardupilot and providing such a vast open-source resource for the users. I have been using arducopter for quite a while and was using them with bigger (10 inch +) drones until now, However due to availability of smaller form factor FC and AIO that natively support arducopter, I am more inclined towards making smaller UAVs with prop size 3 inch fly using arducopter and achieve some basic functionality that a DJI avata provides or a mini provides, I am using a MicoAir H743 AIO with arducopter 4.5.7 and along with I use MicoAir M10 gps with QMC5883, RM3100 over I2C, MTF-01 flow sensor and Skydroid H12 ground station all paired to a 3.5 Inch Cinewhoop frame, battery being used is a 4200mAh li-ion battery. After completing all the stepwise calibration, upping the loop rate to 1000 and using Quicktune and FFT based harmonic notch filter, the stability and feel of the drone feels perfect and it flies great.

However, it is not able to hold accurate position in loiter mode weather using flow or gps, It will drift around in a radius of 30-40 cm while keeping the same co-ordinate locked with 25+ satellites, yaw is perfect, roll, pitch is good, but it just keeps moving around the same point.

Now comparing this with a DJI mini 2, it also has the same peripherals as the setup I use, flow sensor, M9 gps, and a rangefinder, but using these same set of positioning and velocity peripherals and not using stereoscopic visual odometery, it has a better lock on position even in slightly windy environments, How are they achieving this, and what should I change or do for getting the same position stability as a normal DJI drone, even tello hold better position that the setup I use. Will be sharing log files according to your suggestions soon, @andyp1per @rmackay9

5 posts - 2 participants

Read full topic

Throttle response speed

February 2, 2025, 10:52 pm

≫ Next: I want to set the FS_LONG_TIMEOUT value for GCS and RC to different numbers

≪ Previous: Achieving precision loiter stability , AC-4.5.7

$

0

0

I made a copter using pixhawk 2.4.8.
The response to the throttle movement is too slow.
Is there a way to speed up the throttle response?

2 posts - 2 participants

Read full topic

I want to set the FS_LONG_TIMEOUT value for GCS and RC to different numbers

February 3, 2025, 12:52 am

≫ Next: How to enable Aruco based landing in RTL mode?

≪ Previous: Throttle response speed

$

0

0

I want to set the FS_LONG_TIMEOUT value for GCS and RC to different numbers. In case of RC loss, the default value of 5 seconds is appropriate. In case of GCS loss, I want to set the value to 300 seconds. Is there a way to increase it?

1 post - 1 participant

Read full topic

How to enable Aruco based landing in RTL mode?

February 3, 2025, 2:11 am

≫ Next: Single Here 4 issue along side of UM982

≪ Previous: I want to set the FS_LONG_TIMEOUT value for GCS and RC to different numbers

$

0

0

Hello there!

I am currently working on Aruco based precision landing for quadcopter. The script works perfectly and the UAV lands precisely in guided mode. However, I want it to land the same way in RTL mode similar to IR beacon and IR Pixy Cam without running the script every time. Any suggests or inputs would be really help. Thanks in advance.

1 post - 1 participant

Read full topic

Single Here 4 issue along side of UM982

February 3, 2025, 2:37 am

≫ Next: Potential thrust loss=Crash

≪ Previous: How to enable Aruco based landing in RTL mode?

$

0

0

I am building an Tdrones frame that uses a Cube Orange+, a single Holybro UM982 for GPS yaw and a Here4 updated to the latest firmware. 4.5.7
When having only the UM982 active (and its compass as the primary and only fallback), everything works fine, my heading is perfect and even after compass calibration everything seems to be working fine.

As soon as i turn on my Here4 i have the following issues.

• Even though i have the Here4 compass disabled it find a compass variation as a prearm.
• If i enable the compass and calibrate it, it instantly shows my heading on the MP screen as 90degrees to the right from what its actually looking at.
• Even when i disable the Here4 compass it still shows the wrong heading and i have to completely disable the CAN drivers and GPS2 type, reboot and all goes back to normal.
• Last but not least i have seen the lights on the Here4 go from Green to yellow when i move the UAV by hand left or right, thus giving me an error and occasionally through all the tests i have seen that even if i disable the compass and i have a right heading the EKF stays red and even though i am seeing fix on both GPS units my EKF error does not clear.

In this log i enabled the Here4 and compass (did not calibrate again and tried to find what is the issue that give me this compass deviation error)

Yesterday i went out testing again and even though i flew with both GPS units ON, at some point i got the same issue. https://youtube.com/shorts/t_MLGX_bjZM

Right after i got the Issue i disabled the Here4 and the CAN drivers and it all went back to normal.

Here4 completely disabled

Any ideas from the Ardupilot Mindhive team?

1 post - 1 participant

Read full topic

Potential thrust loss=Crash

February 3, 2025, 4:41 am

≫ Next: Hexacopter moves left right front back instead of following mission in Auto Mode

≪ Previous: Single Here 4 issue along side of UM982

$

0

0

Today i was flying my 9inch cam quad, while 60m in the air the quad suddenly started spinning rapitly untill it hit the ground… Is the issue just an broken motor or smth or is the issue deeper?Crash.Thrust - Google Drive
for .bin and footage

3 posts - 2 participants

Read full topic

---

Hexacopter moves left right front back instead of following mission in Auto Mode

February 3, 2025, 5:33 am

≫ Next: Running SITL with Custom Mixer

≪ Previous: Potential thrust loss=Crash

$

0

0

Hello Ardupilot Community,

I was flying my 16 Liter Agri Hexacopter which is tuned properly and flying properly from around 3-4 months. Today when I was fling in Loiter mode everything was working perfect when I tried crossing Poligone geofence the drone was supposed to perform RTL but after reaching RTL altitude of 15 meter, the drone was rolling right left and pitching front and back in approx 2 dia meter circle area. Then I switched to RTL manually and switched back to Loiter and drone flies perfect as it should.

After that I tried to do Auto Mission on 1 acre Land, I uploaded the plan and drone took off, after taking mission altitude of 5 meter, instead of following flight plan, drone again started doing roll left right and pitch front back same as it behaved earlier.

When I checked the logs, pitch and roll movements are desired as DesPitch and DesRoll graph shows the movement. Please help me with this.

Log:
60_log.bin

Please help me with this matter.
Thank You.

1 post - 1 participant

Read full topic

Running SITL with Custom Mixer

February 3, 2025, 6:22 am

≫ Next: EKF primary-1 and Thrust loss-1 error

≪ Previous: Hexacopter moves left right front back instead of following mission in Auto Mode

$

0

0

Hi,
I have created a custom mixer for my multicopter. Now I want to run it in SITL. I have created the lua script for the custom mixer code. I am planning to modify the SIM_Frame.cpp with the custom mixer details. But I have query on how to modify it. Should I create a new function similar to supported frames and will that be enough or I need to modify some other part of the code too for modifying the flight dynamics equations to calculate the forces specific to my custom frame?

Can anyone please help me understand this?

Thanks,
Sayan

1 post - 1 participant

Read full topic

EKF primary-1 and Thrust loss-1 error

February 3, 2025, 8:39 am

≫ Next: Installing SF45 LiDAR on PX4 Without Removing Custom Firmware

≪ Previous: Running SITL with Custom Mixer

$

0

0

Hi all,
During another test flight I got error thrust loss_check-1 together with EKF primary-1. Drone entered dead spiral from 50 feet without any indication from perfectly nice hover. I am newbie with drones and learning ropes. Just trying to make some sense why this happens. This is Holybro X650 drone with Pixhawk 6C FC and regular kit with Tattu 6S battery. I had tried to upload in attachment but file is quite large. I have included bin.file in dropbox l;ink bellow. Thank You for help.

https://www.dropbox.com/t/LjtgDDnc2Io6RfW0

6 posts - 2 participants

Read full topic

Installing SF45 LiDAR on PX4 Without Removing Custom Firmware

February 3, 2025, 10:31 am

≫ Next: Bit 19 of Q_OPTIONS only for tiltrotors?

≪ Previous: EKF primary-1 and Thrust loss-1 error

$

0

0

I have a PX4-based drone running custom firmware with an older PX4 version. I want to integrate the Lightware SF45/B LiDAR sensor without removing or replacing my existing custom firmware.

Could you please guide me on how to install the necessary LiDAR driver and configure it while keeping my current firmware intact? Any documentation or steps would be greatly appreciated.

2 posts - 2 participants

Read full topic

Bit 19 of Q_OPTIONS only for tiltrotors?

February 3, 2025, 12:03 pm

≫ Next: Flowhold with MTF-01

≪ Previous: Installing SF45 LiDAR on PX4 Without Removing Custom Firmware

$

0

0

Hello,

I need to precisely understand the transition flow, including all the potential scenarios. I’m a bit confused about the bit 19 of the Q_OPTIONS role.

The Transition section of the ArduPlane manual says that the bit 19 of the Q_OPTIONS is relevant only for tiltrotors:

Blockquote
for tiltrotors only: if bit 19 of Q_OPTIONS is set and Q_TRANS_FAIL is not zero, and if the groundspeed is greater than 1/2 of AIRSPEED_MIN, then the transition to fixed wing will immediately complete.

However, in the parameter description it is only stated that:

CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND

So my question is if this bit is only relevant for the tiltrotors? And why if yes? What is the point of this parameter and its relation to the Q_TRANS_FAIL_ACT ( Quadplane transition failure action) with the “Warn only” choice? Does it have anything to do with the motor tilt operation and its timeouts in both ways (tilting to and from horizontal motor position?)

I fly only VTOL planes with non-tilting horizontal motors. So can I use this option that reaching the half of the AIR_SPEED (without the airspeed sensor) will complete the transition without waiting for the transition timeout?

1 post - 1 participant

Read full topic