i have and idea to make gliding bomb using pixhawk 6c mini so i have 4 wing 1. is Aileron 2. Aileron 3.Vtailleft 4. Vtailright i need my 3rd and 4rd channels to stabilise my bombs yaw and pitch so it falls right into my selected point. thank you
1 post - 1 participant
Hello Everyone,
My quadcopter is showing an issue with the barometer. I ran an autonomous mission as part of an endurance test for certification. I set the altitude to 120 metres, but the barometer readings exceeded the setpoint, ranging between 120 and 123 metres on the graph.
Additionally, during landing, there’s a variance of 7 to 10 metres in altitude, which appears to be temperature-dependent. In cold conditions, it shows a negative altitude error (e.g., -5 metres), while in hot conditions, it shows a positive altitude error (e.g., +5 metres).
Drone specifications:
Please help me to sort out this issue…
Also How to find and do a good tuning for these drone parameters
1 post - 1 participant
Good afternoon. Faced with a problem on VTOL 4+1 wingspan 2700. When taking off vertically, it cannot rise, freezes and falls to the ground.
Six months ago, this VTOL was flying and climbing normally. There’s nothing right now. Not much load was added, about 1kg.
6s power, orange cube, here 3+
The rear motor is loaded at 100%. The motor is loaded diagonally with it, too. the rest work just above the middle.
TRST_HOWER 0.43
Log on link:
1 post - 1 participant
Hello, please, I have a bait boat with a Pixhawk 6C Mini, using skid steering. In Manual mode everything works fine, but I have a problem in RTL or Auto mode – the boat starts by powering the left motor, then the right motor, and keeps doing this over and over. GPS is OK, compass is calibrated, heading is correct When I control the boat manually, it shows the correct heading I’ve been trying to fix this for two days and it still does the same thing.Please, do you have any idea which parameters I should check? I can’t upload my parameter list here. Thank you very much
2 posts - 2 participants
Hi All Thanks for any help. And please point me in the right direction if there’s an existing post that includes the information I’m after…
I’m having difficulty with getting turning parameters correct for my cataraft mapping boat project inspired by @rmackay9 posting: DeSET mapping boat in Okinoshima Japan
I’ve spent many hours over several days at a nearby lake trying to get the parameters correct following the First Drive with Rover / Tuning Turn Rate instructions. I can’t seem to get rid of the fishtailing. All I can do is make it worse by changing things when the boat is in any one of the autonomous modes.
I’m providing the GNSS Ntrip corrections from a local CORS GNSS base station through mission planner so the navigation is almost entirely fixed RTK. Ive calibrated the compass with large vehicle calibration and acceleration calibration of “calibrate level” and “simple accel cal” when the vehicle was level on the trailer before launching - they were both successful.
There is occasional wind of about 8-10 mph by mid day but early it was dead calm and there was not a noticeable difference in line following ability. The Torqeedo motor is very powerful for this rig and has no trouble pushing it around.
I’ve started with defaults of 0.2 for P & I, 0 for D, 1.0 for Imax and ranged FF from 0.0 to 4.0.
I’ve also moved ACRO_TURN_RATE from 5 to 90 (I think about 15-20 is what it should be based on watching pidachived vs piddesired in acro mode.
In manual or acro the boat can be driven well. It is very maneuverable and tracks straight but in circle mode, drive to here, or survey in auto it fishtails as seen in the screen grabs below - the first one demonstrates where I modified FF while underway where the fishtail amplitude was much higher. For scale the line spacing shown is 10 meters and the circle radius is 20 meters.
Note that the yellow & white Trimble GNSS antenna shown on the front of the boat is Not the one used by the autopilot. There is a smaller dedicated antenna on top of the white Yeti cooler about 0.5m directly in front of the cube orange which located inside the electronics box with the transparent lid. The antenna a high quality talllysman 33-7972-00 GNSS antenna but has a mag mount so I couldn’t place it directly above the cube orange without the compass being bothered.
The frame on the front gets lowered to the position seen in the video once the vehicle is away from shore so the tubes are submerged ~0.5 meters below the water surface during normal operation/survey. I did all of the testing/tuning with the tubes deployed but did try with them up out of the water to see if there was much of a difference and the answer was no.
A video of the system operating in ACRO mode [P=I=0.05, IMAX=1.0, FF=1.0] can be viewed here:
A close up video of steering the motor via RC control is shown here:
Parameters:
LochLomondEndofDay16Apr2025.param (15.6 KB)
Note- Acro_Turn_Rate and the ATC_STR_* parameters were modified several times during data included in the log files below]
Logfiles:
System:
Cube Orange autopilot with Rover/Boat firmware recently updated.(6 months)
Septentrio Mosaic X5 GNSS (operating in RTK mode)
Torqeedo Cruise 3.0 R
Herelink remote control and air-unit.
Custom steering mechanism using Pololu Tic 36v4 stepper motor driver to power a high torque Stepper connected with a modified rack-and-pinion steering system operated as a steering servo.
If anyone would like more information I’m happy to provide.
Thanks for reading
Gerry
1 post - 1 participant
I have been struggling for over 2 years (on and off) to get the data displayed on 2 of the 3 Yaapu scripts application , ie. Map and GCS, without success. Yaapu telemetry is working perfect on my Radio Master TX16S running latest Edge firmware for TX16S. I have “discovered” all the sensors in the Telemetry page of TX16S.
For Yaapu Map, all the folders (from Github) are on my Tx SD card. And the Sat tiles are resized to 100 x 100. See attached photo “No map display”.
For Yaapu Lua GCS, I was successful to get Pixhawk data display on Yaapu Lua GCS in my Jumper T16 Tx before switching to the present Radio Master TX16S. See attached photo “No param values on Yaapu Lua GCS”.
File structure of SD card in Tx is also attached.
One thing very strange is : In Version page when press “SYS” button of Tx16S, lua c is shown. But in Build Options under Radio Profile of Companion, only lua is shown, but no lua c. See attached screen captures. Could this be the reason for values/data not displayed ?
Appreciate your help.
1 post - 1 participant
Hello there, i need some help guys. This is my first time using Arduplane, and let’s just say it havent gone well. I cannot update or redownload the firmware from GCS because it says “You cannont load new firmware while connected to Mavlink” even though i use USB connection to my FC. And everytime i reboot my FC, I always need to recalibrate my sensors.
Saving new params work fine though. I actually have a suspicion why this happen. My FC is the Speeadybee F405 WING MINI. It is shipped with INAV by default. So i use INAV configurator to flash Arduplane to the board. And during the erasing process my computer just decided to restart for no reason. No windows update, no driver update, no error message. F*ck Microsoft. All the application on my PC is closed. But i decided to try reflashing it again, hoping and praying for the best. And it works, except for the problem i have stated before.
So, does anybody know what should i do?
1 post - 1 participant
I know my radio is on the newer side but I am curious if the scripts in this link will work with my GX12?
I just want basic telemetry is all.
3 posts - 2 participants
Wasn’t sure where I should post this but…
The desktop software for AM32 doesnt support hex or more frames, and the online version, motor 1 and 6 are outside the screen filed of view.
Anyone else experienced this?
1 post - 1 participant
My tilt rotor VTOL has been taking excessive time to transition into forward flight, sometime up to 5 seconds at which time the plane is almost out of sight.
If I understand correctly, once AIRSPEED_MIN is reached transition should complete? My CTUN.As shows close to 20m/s at the time of transition, but my AIRSPEED_MIN is set to 9m/s. Is there something else that’s delaying the transition?
The flight logs is available here:
Any suggestions are greatly appreciated!
Stephen
1 post - 1 participant
I’m writing a program that reads logs from a drone. The drone is connected via USB to a computer.
First, I send LOG_REQUEST_LIST and get a lot of LOG_ENTRY from the drone (61 logs are recorded there).
Then I send LOG_REQUEST_DATA to try to download the first log:
system_id - 255
component_id - MAV_COMP_ID_MISSIONPLANNER
target_system, target_component - from the Received drone HEARTBEAT
Log ID - usually 1, but I’ve tried others as well
offset - 0
count - I tried 1, 90 and 0xFFFFFFFF
I should be getting LOG_DATA, but I’m not getting it.
I tried sending LOG_REQUEST_DATA once per second, but I never received a response to it. What am I doing wrong?
The logs are transmitted well through Mission Planner, so the problem is not with the drone or the computer.
1 post - 1 participant
Hi.
I am trying to biuld a drone using an esp32devkit as the fc. I have followed the instructions on [AP_HAL_ESP32] (ardupilot/libraries/AP_HAL_ESP32/README.md at master · ArduPilot/ardupilot · GitHub) for porting ardupilot and was able to reach step 5 without much problem. However when attempting to run ESPBAUD=115200 ./waf plane --upload it failed due to Build failed -> task in 'esp-idf_flash' failed (exit status 1): {task 140365409052144: cmake_build_task -> } and stated that 0 serial ports found.
I have gone through the troubleshooting page and what i think is all the common causes for this problem eg. switching ports, cables, installing the correct driver for my computer and closing all other windows. The device is recognized in my device managers and i am unsure of how to fix this.
Thanks for any help.
1 post - 1 participant
Hi all,I’ve been testing some autonomous drone behavior in GPS-denied environments (indoor hangars and tunnels mostly), and I’m curious about how reliable your inertial navigation performance has been without GNSS.Anyone running CUAV or PX4 systems with good results using just IMU + barometer + compass?
I stumbled across this write-up that helped explain how drift accumulates and how to reduce it with calibration and sensor fusion:Drone INS Operate Without GPS
Would love to know how others are tuning their EKF or if optical flow is essential in these scenarios.
1 post - 1 participant
Hi,
A possibly stupid question here.
How difficult it would be to set up and tune a copter where there would be two types of motors and two types of props, and with the arm length being different. I am thinking of something like:
two higher power motors with 5 x 8 props.
two lower power motors (something like Xing 2306 1800 kV) with 5 x 3 props.
(the idea is to make a high speed medium endurance VTOL, with two foldable arms).
1 post - 1 participant
the fc is mounted in reverse , and the yaw is set to 180 in ahrs_orientation but the roll horizion is inverted
4 posts - 2 participants
I am working on a project with a small USV (Unmanned Surface Vehicle) that has 2 propellers, and I am trying to customize ArduPilot to control the motors. However, I cannot find the AP_MotorUGV file in the AP_Motors folder, even though I believe this file is necessary for controlling the motors for my USV.
I have updated the source code from GitHub and found files such as AP_MotorsSingle.cpp and AP_MotorsMatrix.cpp, but I’m not sure if they are suitable for my 2-propeller system.
The version of ArduPilot I am using is the latest from the master branch.
Question: Is there any file that replaces AP_MotorUGV in ArduPilot that I can use to control the motors for my 2-propeller USV?
Steps Taken: Updated the source code and searched for files in the AP_Motors folder.
1 post - 1 participant
Would someone take a look at this .bin and see if my filter settings are right? I am aware of the peak at 35.49, I have seen a large decrease in it with better pid tuning. If PID tuning doesnt remove it I will put a static notch at that frequency.
Please…
1 post - 1 participant
Hi everyone,
I’ve run into a really puzzling issue and would love to get your thoughts. I’m using pymavlink to send a batch of parameter-change commands to an ArduCopter running in SITL, and every so often the SITL console spits out this message:
AP: Internal Errors 0x100000
(see screenshot below).
I tried to dig in and figure out what’s going on, but as soon as I cut down on the number of parameters I’m setting in one go, the error vanishes completely. Has anyone else ever seen this? Do you know what might be causing it?
For reference, I’m running AP: ArduCopter V4.7.0-dev.
I’ve attached a simple Python 3 script (testsend.py) that automates sending the parameters, as well as the list of parameters & values (testin.txt) and the corresponding log files.
Tools/autotest/sim_vehicle.py -v ArduCopter --console --map -w
mode guided
arm throttle
takeoff 30
testin.txt is in the working directory.pip install pymavlink)python testsend.py
I’m a bit stumped by why this only happens when I batch a larger set of changes. Any clues or suggestions would be hugely appreciated!
Thanks in advance!
3 posts - 2 participants
I am trying to connect a Waveshare (Quectel) GPS LC29H to the GPS port of a CrossFlight.
When I setup a serial pass from Serial port 3 (GPS) to serial port 0 (USB) the NMEA messages are coming through. But yet when terminate the serial pass and directly connect LC29H to GPS port I am getting a message “No GPS” on Mission planner
Any suggestions?
Bill
1 post - 1 participant
Greetings all. I am requesting assistance trying to config some autonomouse flight/ joystick flight. When connected, the usb connection turns to a solid greene as does the one connected to the pixhawk. Boad rate set to 57600 and the proper com port is selected. Once connecting within the matter of 5 seconds i get the connection failed notification.
I can connect via usb cable no problem. So i attempted to connect that way and maybe config or view sik radio settings withing the optional hardware, but no options appear. I then tried to “load settings” and i get a “failed to enter command mode. Try power-cycleing modem”. I try to power-cycle and keep ketting same issues.
Ive attached some pictures i took with my phone. To try to help explain my frustrations haha. I appreciate any help i can get.
A little background to my build is, i had a raspberry pi running uavcast connected to my pixhawk for 4glte flight. I left home for a little while and just got back a few weeks ago so my data plan and uav cast membership expired. So my thing is, i would like to atleast be able to fly it for the time being until i get a new sim card and data plan/ uavcast membership activated. I have a joystick set up that i plan to use for flight from my laptop.
2 posts - 1 participant
