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Decentralize Collision avoidance system for swarm drones using ESP32

February 24, 2025, 5:28 am
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I have developed a simple collision avoidance system for swarm drones using only ESP32 as the required hardware. This project draws most of its inspiration from this research paper.

Overview

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This avoidance system utilizes ESP-NOW in broadcast mode to communicate with other drones. The avoidance algorithm is based on the Velocity Obstacle method. When a neighboring drone is detected nearby, the drone’s response differs based on whether it is running PX4 or ArduPilot.

Ardupilot
Initially, the drone downloads the mission list uploaded to it. Using this mission list, the avoidance algorithm updates its target destination variable. If an avoidance action is triggered, the drone switches to GUIDED mode, allowing the algorithm to take control and send avoidance velocity commands based on stored information about other aircrafts’ locations and velocities.

If any waypoints are reached while in GUIDED mode, the system updates the mission sequence accordingly before switching back to AUTO mode.

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PX4
For PX4-based drones, the algorithm utilizes the TRAJECTORY_REPRESENTATION_WAYPOINTS message to manipulate the vehicle’s velocity in any mode. Unlike ArduPilot, no mode switching is required. To enable this functionality, the parameter COM_OBS_AVOID must be set.

Concept Implementation

For this implementation, I used:

  • 2 CubeOrange controllers running Software-In-The-Loop (SIH)
  • 2 ESP32 modules for telemetry
  • 2 ESP32 modules running this project

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Demo Videos
https://youtu.be/YQ1cisuaNSk
https://youtu.be/T8civhjS71A

you can also wirte your own algorithm in this function of the code

void computeTotalVelocity(const Agent& currentAgent, const std::vector<Agent>& neighbors, double& total_vx, double& total_vy, double& total_vz)

Note: This system has never been field tested. If you choose to use it, please proceed with caution. also this system need lot of work in ardupilot integration and avoidance algorithm part

GitHub: GitHub - WCjai/DCATS at DCAT-Ardupilot

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Flare in FBWA (landing)

February 24, 2025, 5:32 am
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On my AR wing Pro i can not do a proper flare while landing if i am in FBWA mode. I use pitot on it.

How do i prepare for landing? I usually do a long final and glide down to the runway. Maybe i give a little throttle during gliding if i am too low.

When it is time to pull up, there is little to no effect (ithink it because of stall protection). The wing continues sinking and “splat” on the runway.

When i land manual i am able to flare.

This is my best wing, flyes well in all modes…
It’only about the flare.

Can i correct this behaviour?

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Controling a drone with raspi

February 24, 2025, 8:52 am
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Hey folks, i currently have a raspi 3 b+ connected to the uart1 port of a speedybeef405 wing running copter 4. The pi is using mavproxy.py to forward telemetry data to my ground station running q ground control via my wifi router ( the pi is on the drone). So far it works beautifully, however i would like to attatch a joystic to my ground station computer and contror the drone with it. Can this be done and how could i achive that? Thanks for the help!

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Need Guidance on Spraying vtol

February 24, 2025, 10:38 am
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I’m currently on a pre-project phase for a spraying vtol drone for agricultural purposes using ArduPilot. I’m looking to create a sub-app that integrates with ArduPilot/mission planer specifically for mission planning and spraying control. We are looking something similar to what DJI agras offer in their user interface/software.

I appreciate any guidance or insights you can provide. Thank you!

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Arducopter thinks my Bicopter is a VTOL :(

February 24, 2025, 10:55 am
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Arducopter thinks my Bicopter is a VTOL plane :frowning: .

In yappu telemetry all the flight modes are VTOL flight modes. In MP this drone shows up as a plane?!

btw the bicopter flys well without issues.

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Cube Red Not Functioning as Expected

February 24, 2025, 12:57 pm
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Is there any guidance on how to get the two FMU’s on the Cube Red to interact with one another? Is that even a thing? Or is there any reason the primary has only the AUX PWM channels and the secondary has the MAIN 8 channels? I am setting a quadplane up and was using the primary up until I went to test motors and control surfaces, no dice trying to get everything working together. On the other hand, the battery monitor does not work at all on the secondary. This seems like a very capable flight controller and my hope is I am not using it correctly, but I can’t find any documentation to direct me otherwise.

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Dev Call Feb 24, 2025

February 24, 2025, 2:54 pm
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Vehicle Update*

Issues & Pull Requests

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Unusually low MOT_THST_HOVER

February 24, 2025, 3:28 pm
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I’m working through initial tuning of a new quad-copter I’ve designed.

PXL_20250223_175100432

The MOT_THST_HOVER value is 1.35 - which is below the stated lower limit of 2.0.

eCalc shows this copter to have a thrust to weight ratio of over 3.5 - which seems to me like it’s got enough power to warrant low power for hover. (eCalc misses the mark on flight time - about 2 minutes two low, and hover amps at about .4 amps high)

image

I don’t remember having such a low value on MOT_THST_HOVER on other copters. I’m wondering if there’s any other settings I should consider looking into other than what the initial setup tool suggests:

image

So far the copter performs well - and works pretty well with these default PIDs. Once I get the notch filter going and do an Auto Tune - I hope it’s even better.

Thanks for any suggestions!

Here’s a log for a 16 minute backyard hover test.

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LD19 Proximity sensor

February 24, 2025, 5:20 pm
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Confusion about RC channels

February 24, 2025, 6:48 pm
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Hi~
I encountered some confusion while trying to confirm the functionality of RC channels from the documentation. ( RC Input Channel Mapping (RCMAP) — Copter documentation , RC Input (aka Pilot Input) — Dev documentation)
I noticed that only the first 4 channels are defined as corresponding to Roll, Pitch, Throttle, and Yaw. However, for a Rover (specifically a ground vehicle), the concepts of roll/pitch/yaw don’t seem applicable in the traditional sense. From a logical standpoint, only steering and throttle should be functionally relevant. Yet the RC input description still includes these channel assignments, so I’m not sure if my understanding is correct.

Additionally, is the channel for control mode switching different across platforms? For example, the documentation states: “The default flight mode channel is 8 for Plane and Rover and 5 for Copter.” Is this information still accurate?

I wonder what the RC channels[1-8] for Plane and rover correspond to?

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Notch Filter set up help

February 24, 2025, 8:15 pm
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I’m new here (and to Ardu) so please be gentle. I made the mistake of allowing ArduPilot to see that I was scared of it and it has now attacked. I had set my notch to FFT in-flight, but a friend noticed it wasn’t actually doing anything. I already autotuned, so I realize I will need to repeat that once the notch filter is actually doing something. But I also don’t really understand what that is. (side note: I am assuming that the dyanmic in-flight FFT basically sets your notch for you; this right?)

I am trying to set up my harmonic notch filter. I’m having a terrible time of it. I am not sure I can ever tell you what I have done, but I’ll try.

Parameters I have set up:
FFT_enable, 1
INS_HNTCH_ENABLE, 1
INS_HNTCH_MODE, 4
All the other INS_HNTCH I have left as default

With that, I did a test flight today of a few minutes, but my values on the Extended Tuning have gone unchanged.

I have read enough on here to know you’re going to ask for logs. BUT…I cannot understand this either. When I go into my DataFlash logs (I don’t have an SD slot), there are always only 5 x files; each one has the same date and time (12/31/1969 at 18:00:00). Then there are some numbers next to them with one of them being zero. Is this the size? So if I download them, then what? I don’t even know if I have logging enabled correctly or am logging what I need!

So, please help!

Thanks in advance.

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Get deviation distance from mission route (cross track error)

February 24, 2025, 9:54 pm
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Let’s say the drone is going from waypoint A to waypoint B in a straight line.
Naturally, the drone doesn’t stay perfectly straight on the line.
Is there a way to show the distance it is off by in real time during the mission?
I believe this is called the cross track error.

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Alternatively, is there a way to get info on the previous waypoint and next waypoint?
I read the post on Lua scripts here Lua Scripts — Copter documentation but it only mentions getting the home waypoint.

Thanks!

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Pixhawk 6C mini - servo driving issue

February 24, 2025, 10:55 pm
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Hello! First time Pixhawk user here (6C mini) , but i previously worked with many F405 boards without an issue & a Cuav V5+ . I have Ardupilot 4.5.7 firmware.

I got a 6C mini to upgrade my Heewing T2 VTOL, and just realized that it is not capable of driving the tail motors (Elevator & Rudder). These are digital metal gear, sharing the power lines and having 2 long signal wires.

However the servos work just fine on the servo tester (powered from the same rail of Pixhawk). The Pixhawk can drive any other (digital or analogue) servo on the same channel .
So i think there is an issue with that particular servo model, or with the 6c mini PWM voltage level.

Here is a short video on the bench , showing an issue that drives me crazy,

Pixhawk 6C Mini issue + Heewing Tail Servo’s.

I have read that there is an option ot increase PWM signal voltage level to 5V. Do you think that might be the issue ?

Thank you,
Florin

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PreArm: Hardware Safety Switch

February 24, 2025, 11:38 pm
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Hi

I’m using a CubePilot Orange V4.5.7 and I’m getting the safety switch warning. I’ve tried disabling the parameters. Wondering what is causing the message

This is a new heavy rover setup so I have done the simple accel cal and large vehicle magcal. I’ve also done a number of power down / reboots etc

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Many thanks
Michael

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LD19 sanity check

February 25, 2025, 12:15 am
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Hi, I think I solved the issue.

            const uint32_t total_packet_length = 6 + 3*(_response[START_DATA_LENGTH] & 0x1F) + 5;
            if ((_response[START_DATA_LENGTH] & 0x1F) != PAYLOAD_COUNT ||

_response[START_DATA_LENGTH] has length only on 5LSB bits, 3 MSB are packet type
So 0x2C means actually packet type = 1, length = 12 data points, but that require bitmask as pasted above.

I would push PR, but…

aborowski@I9PC:~/ardupilot$ git push --set-upstream origin bugfix/LD19_datalen_sanity_check
remote: Permission to ArduPilot/ardupilot.git denied to boa-pe.
fatal: unable to access 'https://github.com/ArduPilot/ardupilot.git/': The requested URL returned error: 403

BR,
Adam Borowski

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Pitch 90 up arducopter

February 25, 2025, 12:16 am
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hi
i have a quad copter which has x frame f450 , i use it for do acrobatic movements . i have a question about it
I use guide mode and lua scripting for do this , when i want to pitch 90 degree up use this function : vehicle:set_target_angle_and_climbrate the vehicle start to turn around yaw and roll axis , i think gimbal lock happen for the vehicle , i want to hold pitch value up 90 degree up without turn around yaw and roll .can anyone help me ?

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Hereflow Optic Flow Sensor Testing graph

February 25, 2025, 3:24 am
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image

As it can be seen ,body Y and flow Y graph of Hereflow Optical sensor is different from each other. In other words, it is not following each other. Can you please suggest how to rectify this problem. Please note we are disabled the compass and also not using GPS.

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SR2_RC_CHAN seems to reset to 1 a few seconds after booting up the Autopilot (Cube)

February 25, 2025, 5:18 am
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Hi, I’m working on integrating a Nextvision camera with my setup (arducopter 4.5.1.) and I have it all working, but there is a considerable lag on the gimbal control. I have pitch and yaw of the gimbal control assigned to two springed wheels on my RC and I’d say that there is a lag of up to 1s between my physical input (moving the wheel) and movement of the camera.

I do not think that this is due to radio connection lag, as the lag on the video itself is present, but considerably smaller (approx. 1/4 s.).

I started experimenting with the stream rates, particularly, the SR2_RC_CHAN (the gimbal is using telem2 output). This parameter requires an AP reboot. So after setting this param to 10Hz instead of 1, and rebooting, there is a significant improvement in the gimbal control, but it only lasts about 10 seconds. After this time the lag is back on. I reboot via Mission Planner → Actions → Preflight Reboot Shutdown. All this time, before, durin, and after the reboot, everything else is ON, and the video stream is present throughout all this time.

When I refresh the parameters, the SR2_RC_CHAN is back to 1.

I do not have anything else in the system - this happens during bench tests. The only things I am using is: Chinowing T30 RC with V21 Air module radio, TRIP2 camera controller, camera itself and a Cube Orange.

So there are no other peripheries that might “request” a parameter change from the autopilot. So strange! I doubt that the TRIP itself is forcing the parameter change, as the documentation of the device clearly states, that the proper stream rates should be adjusted manually by the user.

Can anyone shed some light on the issue? Maybe someone had some similar experiences?

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Can I connect my Pixhawk 2.4.8 and GPS to my laptop via USB and use the GPS in a Mission Planner HITL simulation?

February 25, 2025, 5:27 am
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I have a Pixhawk 2.4.8 with a GPS module connected to my laptop via USB. I want to use Mission Planner HITL to simulate a waypoint mission, where the GPS sets my location as home and the aircraft moves through waypoints using the GPS itself. Additionally, any change in the flight controller’s attitude should reflect in the HUD. How can I do it ?

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Firmware for FIMI Manta VTOL

February 25, 2025, 6:42 am
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I destroyed the firmware and parameters of my new Manta VTOL. Now I’m searching for a download. I hope somebody can help me. I use ArduPilot

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