I am a newbie. My d]Drone was in auto and undergoing a mission, changed to Stabilize mode automatically and crashed. Can anyone check the logs and see what really happen?
18 posts - 3 participants
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Crash: Drone suddenly turned from auto to stabilize and crash
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WP_pivot_angle not working sometimes
Dear Community,
I want my rover to perform pivot from WP to WP and then start throttle. It is working fine with the WP_pivot_angle >6, and the WP_pivot_delay = 20 to test, but sometimes it ignores the pivot and uses the steering PID (making an S-turn). I was wondering whether it would be a bug in the angle error (negative value for instance) or if there is anything I am missing. I have been trying different parameters for the last two weeks but nothing seems to solve this.
I am using ardurover 4.5.7
Thank you in advance!!!
1 post - 1 participant
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Arducopter Xacti UAVCAN Parameters not showing
Hello,
I have been integrating the Xacti CX-GB100 payload with ArduCopter v4.5.6
The camera is detected in the DroneCAN setup page, but no parameters are being displayed. I want to change the parameters similar to the setup shown in the ArduPilot Wiki, but they are not appearing for me.
What could be the possible issue? Any guidance would be appreciated.
Thanks!
Thanks
1 post - 1 participant
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Drone Toppled While Landing
Hello ,
Last Friday i was testing my hexacopter system running ardupilot firmware (v 4.5.6) and integrated with obstacle avoidance sensor and altimeter both SF30D, while landing the drone toppled upside down completely. I would appreciate if any developer will help me finding the reason of this system behavior.
log - 2025-03-07 16-02-57.bin - Google Drive
1 post - 1 participant
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Sports mode by default?
Hi,
Like to check, for sports mode is this not in all the server firmware, you need to add this yourself in custom firmware? Thanks in advance
1 post - 1 participant
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Arducopter ALTHOLD
When I use Ardupilot ALTHOLD, the altitude goes up and down a lot and it is not stable. The FC is MATEK F405STD.
1 post - 1 participant
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Inappropriate flight behavior using set_attitude_target at high pitch/roll angles
Hello!
I apologize in advance for the possibly incorrect/inconvenient description of the problem. I’m new to this site and I might not be posting there. If that’s the case, let me know and I’ll fix it.
I have a problem reaching large pitch/roll angles when flying using the set_attitude_target command.
Symptoms: when flying at small pitch/roll angles, everything is fine, but when the angles increase to 30-40 degrees, the quadcopter loses control, does not respond to set_attitude_target commands correctly, begins to rotate with yaw acceleration, can completely turn over and yaw towards the ground. Sometimes it maintains an upright position, but at the same time it rotates by yaw and it can even be stabilized and continue to fly normally at small angles, but I do not know what it depends on. I also want to note that the quadcopter seems to respond adequately to short-term commands with large angles, but with a longer (1 second or more) flight in this position, rotation begins again.
Arducopter is V4.5.7
I am using the dronekit and gazebo library with ardupilot sitl to conduct tests.
Autopilot parameters are standard: gazebo-iris.param
There is also a flight log. I’ll try to attach it to the theme.
Here are the functions that I use to send control commands:
def send_attitude_target(vehicle, roll_angle=0.0, pitch_angle=0.0, yaw_angle=None, yaw_rate=0.0, use_yaw_rate=False, thrust=0.5):
if yaw_angle is None:
yaw_angle = vehicle.attitude.yaw
msg = vehicle.message_factory.set_attitude_target_encode(
0, # time_boot_ms
1, # Target system
1, # Target component
0b00000000 if use_yaw_rate else 0b00000100,
to_quaternion(roll_angle, pitch_angle, yaw_angle),
0, # Body roll rate in radian
0, # Body pitch rate in radian
math.radians(yaw_rate),
thrust # Thrust
)
vehicle.send_mavlink(msg)
def set_attitude(vehicle, roll_angle=0.0, pitch_angle=0.0, yaw_angle=None, yaw_rate=0.0, use_yaw_rate=False, thrust=0.5, duration=0):
send_attitude_target(vehicle, roll_angle, pitch_angle, yaw_angle, yaw_rate, use_yaw_rate, thrust)
start = time.time()
while time.time() - start < duration:
send_attitude_target(vehicle, roll_angle, pitch_angle, yaw_angle, yaw_rate, use_yaw_rate, thrust)
send_attitude_target(vehicle, 0, 0, 0, 0, True, thrust)
def to_quaternion(roll=0.0, pitch=0.0, yaw=0.0):
t0 = math.cos(math.radians(yaw * 0.5))
t1 = math.sin(math.radians(yaw * 0.5))
t2 = math.cos(math.radians(roll * 0.5))
t3 = math.sin(math.radians(roll * 0.5))
t4 = math.cos(math.radians(pitch * 0.5))
t5 = math.sin(math.radians(pitch * 0.5))
w = t0 * t2 * t4 + t1 * t3 * t5
x = t0 * t3 * t4 - t1 * t2 * t5
y = t0 * t2 * t5 + t1 * t3 * t4
z = t1 * t2 * t4 - t0 * t3 * t5
return [w, x, y, z]
** What do I want?**
I want to experiment with flying at high speeds and high pitch/roll angles using the set_attitude_target command and without gps.
Express your opinion and your assumptions. I will be very grateful for every answer. Thank you.
1 post - 1 participant
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4.6 beta 4 In-Flight FFT-Based Harmonic Notch
I’m on my long way to enable FFT notch setup for my H7 based Copter.
What I understand I should enable FFT then perform a test flight.
In-Flight FFT-Based Harmonic Notch Setup — Copter documentation
I did both but the problem is I can’f find any given data in the logs.
The true is I have to build my own FW so to make it lighter I disabled some modules. Could be I removed FFT as well but it’s I do not think so…
define AP_SCRIPTING_ENABLED 0
define DRONECAN_SERIAL 0
define AP_RANGEFINDER_ENABLED 0
define AP_OPTICALFLOW_ENABLED 0
define HAL_PROXIMITY_ENABLED 0
define HAL_MOUNT_ENABLED 0
define AP_CAMERA_ENABLED 0
define HAL_GENERATOR_ENABLED 0
define HAL_PARACHUTE_ENABLED 0
define AP_AIRSPEED_ENABLED 0
define AP_AIRSPEED_ANALOG_ENABLED 0
define AP_FENCE_ENABLED 0
define HAL_RALLY_ENABLED 0
define AP_AVOIDANCE_ENABLED 0
define AP_OAPATHPLANNER_ENABLED 0
define HAL_ADSB_ENABLED 0
define MODE_ZIGZAG_ENABLED 0
define MODE_SPORT_ENABLED 0
define MODE_GUIDED_NOGPS_ENABLED 0
define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0
define AP_GRIPPER_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define AP_LANDINGGEAR_ENABLED 0
define AP_WINCH_ENABLED 0
define AP_WINCH_DAIWA_ENABLED 0
define AP_WINCH_PWM_ENABLED 0
In short words I’m stacked on FFT_ENABLE,1 , as can’t find:
Any ideas?
Moved a bit with enabling INS_LOG_BAT_MASK
Other FFT methods ask to enable INS_LOG_BAT_MASK
while wiki given above does not (for in-flight FFT…)
And again…
good but save and reload to get others params… and something is misspelled here …
1 post - 1 participant
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Motors not work . not possible configure
nel configuratore di mission planner non mi da la possibilita di assegnare i motori . cosa sto sbagliando ? grazie
3 posts - 2 participants
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Descending on AUTO flight mode
Hi there! I have a constant problem with my fixed plane. I take off on stabilize mode and when i switch to auto the plane is descending for a few seconds and then ascend to the selected altitude. Unforunately i can not upload the log file but i have done many flights and is always the same.
I am using Orange Cube+, Here 4 or Here 3, i don’t use airspeed sensor.
I also experienced the same issue with 4.3.1 and 4.4.4.
Below you can see a screenshot of the logs in exact time that i do the switch to auto, is this normal?
If you can help me in which direction to search.
Thank you for your time.
1 post - 1 participant
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send RTK GPS data to raspberry PI
hello i want to ask.
i use raspberry pi connected to pixhawk via TELEM port. then how to send correction from GPS RTK in base station to raspi?
1 post - 1 participant
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Mavproxy Send Mission, Non-GPS
I am using an Optitrack system and would like to make autonomous missions.
So in reference to this discussion.
I see you can send a mission via Mavproxy, but I am wondering what the procedure is for Non-GPS applications. The shown examples are only using lat/long.
The Optitrack system works well in Loiter and Circle mode but I would like to make specific routes to follow, along with takeoff and landing.
Any ideas or input is appreciated.
Thanks.
1 post - 1 participant
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Support for the DJI 04 air unit/pro and Googles 3 with Ardupilot
Support for the DJI 04 air unit/pro and Googles 3 with Ardupilot.
This is my attempt to put all the info that I read into one location.
Here are some links that are helpful with the setup…
https://ardupilot.org/copter/docs/common-osd-overview.html
https://ardupilot.org/plane/docs/common-msp-osd-overview.html
https://ardupilot.org/copter/docs/common-msp-overview-4.2.html
This setting is not inside the googles 03 found at this and many other links so you can’t change this…
At this link I talk about having issues with the osd not covering the whole screen. The fix was clicking “HD layout” under the config tab then osd menu in MP, make sure you only drag the osd icons within the 50x18 screen size otherwise it will fall out of the googles screen.
So all in all it was a really easy setup, all icons work for me and it’s really clean inside of the googles.
I am using speedybee f405 v4 flight controller,
I haven’t tried this on a cube or my holybro just yet but that is coming.
2 posts - 1 participant
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AP shows wrong RPM on gas engine
Hi there! Have a plane with gas engine (DLE) and enabled ICE in AP. Everything works great exept PRM. I have set up all the parameters correctly and in some days AP shows correct RPM and everything works fine, but on other days it shows absolutely icrorrect numbers. This happens completely by accident and it is unclear what it depends on. Has anyone seen such a problem?
1 post - 1 participant
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Landing up to the tree :)
Hi,
I need your help to solve an issue I got twice with 4.6b4
It’s all about LAND after battery failsafe.
My copter flown away just after FS kicked on.
First time I managed switched it back to Stabilize in RTL phase. So quit fast but it was at about 10m alt. Had some time.
Second time I had not change to act. It was LANDing from just 2m maybe then got power and skyrocket to the nearby tree. Good it was there. In that case RTL was disabled so only LAND could kick-on on critical batt failure.
What may be or not important I used to power drone on workbench then put it on the ground. So my arming ALT is almost always lower then power-on ALT. Or even worst I power it on table on the balcony then go to the garden 3m below.
Below is a ALTs scenerio as it’s removed by anonymization.
Closer look shows baro ALT rising while POS Alt going down. Then it hit a tree, I disarmed then it fall down. Red is baro green is POS Alt
Tested std LAND from both STAB and ALTH but without batt failsave. It’s goign down, moving to the sides little to much but definitely no going up.
1 post - 1 participant
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Hexacopter tilts forward in stabilization mode
so basically i did all initial settings and calibrations except auto tuning, but my hexacopter still pitching forward, so i need to constantly compensate that.
Tomorrow Im gonna go out and do some auto tuning but maybe there are some other obvious reasons why it behaves that way?
attaching the log of my last flight, during which I simply raised the copter to a height of about a meter and tried to hold it in place.
2 posts - 2 participants
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Rover Mowing Success
To All,
Just dropping everyone a line to say thank you for all the help you have given me over the last two years. In particular I would like to thank @Yuri_Rage who always seemed to pick up my questions and offer superb helpful advice.
I can now mow my paddocks with superb repeatability!
Please see short video below.
Cheers,
Martin
1 post - 1 participant
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Uneven output on CCW and CW motors (no props, on the bench)
Heres my HW
FC: Pixhawk Cube Black
ESC: Tmotor 4-in-1 F55A Pro II
Motors: 400kV Sunnysky X4112S
Battery : Tattu 4500mAh 25C 6S
Weight of drone: 2.5kg
I am currently experiencing an issue where the CCW motors turn slower than the CW motors, and thus have a much lower thrust for those. I am looking at the RCout, and trying to ascertain what the problem is. I already ran initial tune parameters, checked the motor configuration so that each are turning in the right direction. I checked reversing both by switching the wires on the ESC, as well as in sw. I am soldering directly to the esc pads, not using bullet connectors. I have swapped the ESC, and saw the same results. I have swapped the motors and see the same results. They all operate on motor test.
Heres the latest log.
Heres what it looks like on startup
Heres what RCout looks like
14 posts - 2 participants
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Calibration of ESCs
Hello there, as I was building my copter, I realise that one motor was spinning way slower than the other motors, and upon checking the servo outputs on Mission Planner, the PWM output of one motor was much lower than the other. Could I ask if anyone has any idea of how to callibrate the ESC?
We are using the t-motor AT 55a 2-6s ESCs for our quad. Thank you!!
2 posts - 2 participants
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Battery failsafe/malfunction and power module
Dear colleges, I’m having an issue with the main battery on my copter as regulated by the Power Module. When the MP try to arm de copter, it shows a failsafe saying that battery is malfunction.
It happen even with battery at full charge.
My components are:
-Lipo battery 3S with 2200mAh.
-Power Module Holybro PM02 V3
-Controller Pixhawk248
-Transceiver-Receiver Radiolink AT9S-Pro
-Firmware V4.5.7
Of course I follows all parameters indicated for MP setup by Holybro for their unit.
Also during the preflight of drone, the current shows an amount in green color saying apparently the battery is in good condition.
If any body can give me a clue of what is happening? I will be very gratefull.
Regards, Javier
5 posts - 3 participants
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