I’m currently working on a hexacopter meant for agriculture spraying. I am trying to get in flight FFT set up on the drone for tuning because it doesn’t have a RPM sensor or ESC Telemetry. I’ve had good results with throttle based tuning but I presume it’s ineffective for how dynamic the payload will be and so I went with the live FFT notch tuning.
Problem is it isn’t very accurate at targeting the peak and always misses the first noise peak. Here’s the log where I collected the data for FFT to check its effectiveness. It’s a biblade 2480 foldable prop on a hobbywing X6+. Log is empty water tank data.
Recently I built a plane with a matek F405 controller, replacing an H743 that burned out. I noticed in the logs that for some fractions of a second, around every 30 seconds the airspeed drops to 1.6116 for some milliseconds. I never got any airspeed health error in flight, what could be the cause of this? Other i2c devices like the baro show no problems. The drop value is always the same, 1.6116.
Attached pic shows the problem. Using a custom build of Ardupilot 4.5.7.
Hello. I am currently building Quadcopter using Pixhawk4, Mission Planner, and ArduPilot.
I’m using Radia Master’s TX6S controller and RX8R receiver(Frsky)
I’m trying to doing Radio calibration, but my pixhawk and mission planner can’t receive controller’s signal.
i think controller and receiver are connected well, and pixhawk and ardupilot are connected wel too.
My plan for this VTOL build is quad with the two front motors tilting. It hovers well in Q modes but the motors don’t respond at all when used for forward motors. I first set it up as QuadX Tilt Rotor with 1 and 3 being used for forward flight. During transition it would begin an uncontrolled yaw with no considerable forward response to throttling up.
So I changed it to Q_Enable=0 and locked the front motors in the forward position. I changed Motor1 and Motor3 to Throttle (no change to physical connection) and they don’t respond at all. I tried changing all 4 to throttle and none of them respond at all.
Plane 4.5.7 (and tried 4.6.0-beta, same result)
Flight controller is CubeSolo (FMU3 target)
The carrier board has Servo1 - 4 connectors on the 4 corners of the board for the motors so I am using those channels.
The ESCs are also from a Solo and don’t seem to have a calibration function.
There are 3 additional PWM outputs available and when I connect a bl_heli_s ESC to Servo8 and set as Throttle it works fine and it can fly. Elevon servos on Servo 6 and 7 work fine. Just nothing is working on 1 thru 4 except lifting motors.
For some time now, I’ve been using the “Initial Tune Parameters” feature in Mission Planner.
Today I realized that this feature leaves whatever PID values you have unchanged. So if you’re using a flight controller that was previously used in a different vehicle, the initial parameter settings may be unpredictable.
The only place I’ve found that will set all the initial parameters, including PID values, back to default is here:
Here’s the Extended Tuning values after loading the defaults:
Here’s the Extended Tuning values after doing the “Initial Tune Parameters” routine:
The “Initial Tune Parameter” routine plainly shows the parameters it’s changing. But for the uninitiated, it’s not clear that this set of parameters may be very incomplete.
For a new flight controller, this isn’t a problem. But it would be helpful if there were instructions how to set parameters properly on a flight controller taken from another vehicle.
Hello, I am new to this ardupilot and the pixhawk 4 FC. I am currently using 4.5.7 version in Ardurover. I am wanting my autonomous soil sampler to go to a dedicated waypoint. Once at the waypoint, I want the pixhawk to output a voltage out of either its aux ports or main i/o ports to the arduino pin. Once the arduino pin sees a change in state on that pin it will trigger the soil sampling process. After the arduino mega finishes the sampling sequence, I want it send a signal back to the pixhawk i/o pin to tell pixhawk to go to the next waypoint and to continue this sequence. I currently have the GPS working in autonomous mode. I am using a skid steer system and am using channels 1 and 2 on the main i/o. I am using pull down resistor on the arduino pin and a voltage divider from the arduino to send 3.3 v back to the pixhawk. I have tried to follow how to write a lua script to control GPIOs to make the pixhawk do the thing that I want, but I have had no luck with finding parameters that it suggests changing. What is the best way to configure this in MissionPlanner. Should I use a Lua Script? Is there another way other that using a Lua Script? What parameters do I change? What are the names of such parameters? In what order do I configure this? Any help would be greatly appreciated.
Me and my team are currently having trouble connecting our autonomous setup for our plane. For our setup we are using:
a AR8360T Spektrum receiver
a matek f405 v2 flight controller
a Spektrum NX8 transmitter
and of course ardupilot.
We are trying to use DSMX/DSM2 to bind the transmitter and ardupilot but are constantly failing the bind. Our receiver is connected into the Matek with an SXRL2 cable connected into Vcc(5v, 4.5v, 9v), GND, and RX2(as well as tx2 and sbus) We have also tried using the NC wire with no avail. (We have tried switching things around but so far it seems the wiring is not the problem as it fails in every combination)
We have also confirmed both the receiver and the Matek are getting an adequate amount of power. We’ve also changed all the serial options in ardupilot to the various ones we have seen on the ardupilot website as well as these discussion forums.
We have also tested two different transmitters, and have not reached a solution. (The other transmitter is the Spektrum DX 6e)
Currently our guesses for what’s wrong could be that the software for the receiver isn’t updated (we are waiting on a programming cable that takes a week to arrive) or that its something inherently disorderly with the receiver and ardupilot connection.
Any and all help is very much appreciated! Help our team get our plane in the air!
Hi
I tried a take of to do an initial hover test on a new build and have this message
‘Takeoff blocked: ESC RPM out of range’.
I have unsuccessfully checked my settings but unfortunately I need to help to fix this.
I am using the following.
Matek H743-SLIM V3
T-Motor F55A Pro II 55A 3-6s AM32 4-in-1
Below are my BLHeli ESC settings and I attach a log.
If anyone can help with this it would be appreciated!!
Hello.
When a straight line autopilot mode flight is performed, the aircraft begins to accelerate while leaning.
This is currently corrected manually.
Is there any way to have this corrected automatically?
I run SITL using the following command:
sim_vehicle.py -v plane --console --map -w
As a result, I get the following output:
I want to listen to SITL messages so I use the following pymavlink script:
from pymavlink import mavutil
# Start a connection listening on a UDP port
the_connection = mavutil.mavlink_connection('udpin:localhost:14550')
# Wait for the first heartbeat
# This sets the system and component ID of remote system for the link
the_connection.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (the_connection.target_system, the_connection.target_component))
But even through the simulation is running, nothing is printed.
I need help in assessing at which part of my hardware I’m having issues to yield a potential thrust loss on all motors. I’m using a quadcopter and pixhawk 4.
I am working on tailsitter and I have written a 6dof fdm simulation code that connects to the ardupilot through json interface. The problem is when all moments and forces are set to be zero in fdm except the x-force which is upward in tailsitter, in takeoff the plane starts the motors and an acceleration in x-direction is passed to the autopilot. But it interprets the vertical acceleration as lateral one and thus the dcm and ahrs estimate lateral acceleration and change in pitch angel which is not true! I tried to find where is the problem in the code but I have not found it yet.
Andrew: Likely needs a special case where the two get_altitude_distance() arguments have the same frame. Peter: I’m pretty sure it would still work. A: George, does your test fail on master? George: Yes, it does. A: Okay, merging your PR to my PR.
A: If you don’t have terrain data, it will put alt offset = 0. It’s not wrong, but not entirely right. Better yet, it should mark a “pending tarrain” request or something similar. Randy: In copter we would have a terrain failsafe. Although in the case of RTL, it would not help at all. Thankfully we nave had an ocurrence.
In general in Copter if we can’t do something, we don’t try our best; we just give up.
UTC0730
A: It’s semantics, but SPI is allready full duplex. A rename to a more accurate name would be nice.
Andy, I see you added a comment in AP_HAL.
The change gets rid of a lot of stack allocation calls, improving performance. Nice.
What testing has been done?
Andy: NONE!!!
A: It would be nice to choose a more descriptive name for the methods.
Left some requests.
I’d like to see testing on at least one Invensense v2 and v3 in ChibiOS.
UTC0742
P: Isn’t this useful for 2D PIDs? R: We’re looking to save space and I’ve never heard of anybody using this. A: I agree that we can remove it.
Merged!
UTC0748
A: If we merge this we’ll run out of space in many vehicles.
Of course you can merge it without getting built by default.
Pending a coding pattern change.
Andy: Is it time to compile with -Os across the board? A: Perhaps for 4.7 it’s time to do it.
UTC0758
P: I’d like to ensure that AP_PolyFence_Loader::write_fence(), which runs on the main thread, doesn’t have a chance to block for a long time.
Okay, I’m convinced. Let’s test it.
UTC0812
Asked for a few little changes, and then good to merge.
UTC0827
A: Needs to pass CI and we need to flight-test this.
UTC0858
A: This is a PR to fix an issue where in quadplane, when flying fast, falling and switching into QLOITER, the position controller tries to gain altitude quickly. But in the process it gives low priority to attitude control and consequently doesn’t arrest horizontal velocity for a very long distance.
Merged!
UTC0802
A: Needs Randy’s review.
UTC0804
Merged!
Updated on the 4.6 release:
Still some issues on 4.6.
AM32 passthrough
Quadplane fast attitude recovery.
Autodeploy landing
And we’re still finding issues.
2-3 weeks more for sure.
New beta will be out on the next few days.
Hi Folks - a quick heads up to anyone else who may be using these rather nice Ubecs from Holybro, I have just had a fault that I found was caused by having 9.2V on my Ubec output rather than the 6v I thought I had set - upon investigation the little DIP switch on the Ubec PCB is soldered on upside down and therefore ‘On is OFF and Off is ON’.
Holybro are aware but there may well be many more out in the field like this - you can tell if your Ubec is faulty by looking at the DIP switch through the case, the DIP switch ‘ON KE’ mark should be AWAY from the PCB edge - opposite the ON of the silk screen of the outer case.
You could open yours up and resolder the switch if you have the skills, or mark up the ON and OFF Silk screen on the case the other way - whichever way I shall always test a Ubec with a meter before going live in the future!
Goal:
Implement a one-way transmission of control signals (RC channel emulation) from one flight controller (FC1) to another (FC2) using the CRSF protocol.
Requirements:
FC1 acts as a transmitter, generating control signals for FC2.
FC2 receives these signals and uses them to control the motors.
No telemetry (feedback) is required from FC2 to FC1.
The implementation must not use a standard ELRS TX module (i.e., FC1 itself should send CRSF commands via UART).
Preferably implemented using a Lua script on FC1, if possible.
Would this be feasible within the ArduPilot environment? Are there any known limitations or alternative approaches?
Hello, I have got so far with my tank build, using mission planner and pixhawk 6c mini i’m having a few issues with what set up on my Frsky taranis XD9 se. How do I set up mixes on Frsky Taranis xd9 se for the rover in the mission planner so I can calibrate my TX? I am all connected with the sbus and all the other bits are working i’m just confused on what set up i need.
Yesterday I experienced un-commanded climb on my copter:
It doesn’t look like I hit the throttle stick by accident.
I had a Emergency Motor Stop configured - so that took care of the climb. And as bonus, I got some really good destructive testing on this frame. (remarkably little damage)
I’ve never had this exact thing happen before. Perhaps it was some sort of “glitch.”
If anyone has time to look it over, I’d appreciate any comments or suggestions.
