@osmunda wrote:

I have a quadcopter with Pixhawk 2.1 a Frsky X8R receiver. RSSI output is connected to Sbus port of PH, following instructions on http://ardupilot.org/copter/docs/common-rssi-received-signal-strength-indication.html.

Arducopter parameters are configured with Analog_Pin=103 and RSSI range from 3,3V to 0,0 V.

The problem is that RXRSSI values are fixed around 50 (HUD), not ranging from 100 to 0 as expected (when I turn off the Taranis Transmitter).

This setup worked fine in my previous flight controller, a 3DR Pixhawk 1 with AC 3.4.6, but problems arrived when I upgrade the firmware (to 3.5.5) and the hardware (to PH 2.1). So I can’t find a solution to this, as I don’t know if this is a Mission Planner or an Arducopter issue.

By the way, FrSky telemetry has its own RSSI graphical values (displayed in the taranis) and alerts.

Somebody have a solution for this, please

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@Chernabog wrote:

Hi All,

From what I have read it would seem that since 3.5.4 we can now connect serial devices to the SERIAL 5 port, which would seem to be the 3 pin console header (labelled CONS) on a standard carrier board (which is great as I have used all of the others up!).

I am thinking of connecting up my micasense rededge to this port in order to give it GPS and heading data but I can’t seem to find the pin layout for this three pin connector (this http://www.hex.aero/wp-content/uploads/2016/07/DRS_Pixhawk-2-17th-march-2016.pdf mentions it but does not go into the specifics of the pin layour as far as I can see) … could someone could point me in the correct direction so I don’t plug things in the wrong way and end up stuffing an expensive sensor

Thanks,

S.

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@JoeHaase wrote:

After going absolutely nuts trying to get my Arduboat (4’ Kayak with thruster and max speed of 4mph) to run correctly, I found out that APM’s are no longer supported, and it’s recommended to goto a pixhawke. For the life of me, I can’t find any documentation on if the pixhawke has PWM inputs like my APM 2.6 does. All I see is a reference for a spectrum radio.

Also, will the old GPS / Telemetry / Power modules I have laying around work with a new controller?

Thanks,

Joe.

P.S. Where do you even begin tuning these things?!

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@njwang wrote:

Hi,

I’m following instructions here http://ardupilot.org/dev/docs/building-px4-with-make.html#building-px4-with-make to build the ardupilot code.
After I entering the “make px4-v2” it end up something like this:

LINK: /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/firmware.elf
/bin/sh: -c: line 0: syntax error near unexpected token (' /bin/sh: -c: line 0:arm-none-eabi-ld --warn-common --gc-sections -T/d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/nuttx-export/build/ld.script -L/d/NaijiaWang/
ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/nuttx-export/libs -Map /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/firmware.elf.map
-o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/firmware.elf --start-group /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.
build//d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/empty.c.o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build//d/Naijia
Wang/ardupilot-master/ardupilot/modules/PX4Firmware/src/drivers/boards/px4io-v2/module.pre.o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build//d/NaijiaWang/ardupilo
t-master/ardupilot/modules/PX4Firmware/src/drivers/stm32/module.pre.o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build//d/NaijiaWang/ardupilot-master/ardupilot/modu
les/PX4Firmware/src/modules/px4iofirmware/module.pre.o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build//d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware
/src/platforms/common/module.pre.o /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build//d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/src/platforms/nuttx
/px4_layer/module.pre.o -lapps -lnuttx d:/program files (x86)/gnu tools arm embedded/4.9 2015q3/bin/…/lib/gcc/arm-none-eabi/4.9.3/…/…/…/…/arm-none-eabi/lib/armv7-m/libm.a d:/program files (x86)/gnu t
ools arm embedded/4.9 2015q3/bin/…/lib/gcc/arm-none-eabi/4.9.3/armv7-m/libgcc.a --end-group’
make[2]: *** [/d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/firmware.elf] Error 2
make[2]: Leaving directory /d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build' make[1]: *** [/d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware/Build/px4io-v2_default.build/firmware.px4] Error 2 make[1]: Leaving directory/d/NaijiaWang/ardupilot-master/ardupilot/modules/PX4Firmware’
make: *** [px4-io-v2] Error 2

What might be the problem?

Thanks

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@lordneeko wrote:

Can someone point me where in the repo I can start mapping the customized parameters that they programmed into the SV so that I can make the SV build in master produce a build with those defaults as well. Currently, flying the SV from master works but many of the tuned parameters that tridge and company put into it are broken because parameter names changed and such. Thanks!!

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@flyingw wrote:

I’ve been experimenting with airplane auto landings and have had multiple successful landings. Amazing. I’m using a Pixracer, Arduplane 3.8.4 and Mission Planner 1.3.56. I am using barometric altitude (no rangefinder) to sense altitude.

Am also using a sequenced landing approach where the turn to base leg and turn to final approach both have glide slopes of about 10%. I’ve tried higher and lower glide slopes with similar overshoot results. Also tried longer distances but the airplane still overshot the spot.

I’ve increased the LAND_FLARE_SEC parameter from the default of 2 to 3 thinking that the motor would turn off sooner. It didn’t.

I’ve tried a few different values for the LAND_FLARE_ALT parameter but put it back at the default of 3 meters because changing it made little difference.

The airplanes flares and lands nicely, but it overshoots the programmed landing spot every time by about 100 to 200 feet.

In the flight plan is the final waypoint designated LAND the landing spot or the beginning of the landing sequence?

What else could I try?

Thanks,

Paul

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@flyingw wrote:

I amd using an mRo Pixracer with ArduPlane 3.8.4 and Mission Planner 1.3.56.

I was flying in manual mode when the airplane suddenly felt like it was not responding well. I glanced at my GCS and saw a “No GCS Heartbeat” alarm on the Mission Planner HUD and the flight mode was RTL… I have the system configured with the GCS Failsafe feature turned on so I know that it did its job well.

My RC control had a strong RSSI of about 70% and the airplane was about 300 feet away at the time. Also, the telemetry percent indicator in the upper right hand corner of the HUD showed about 99% at the time of, during, and immediately after the event.

On my RC transmitter I toggled between RTL and manual flight modes and the flight mode switched back to manual and the system did not go back into failsafe again. I landed the plane safely without further drama.

I believe that the system missed enough heartbeats to trigger the GCS Failsafe feature. I confirmed the “No GCS Heartbeat” alarm and RTL state by reviewing my PC screen recording of the flight. I can also see the RTL event in the DataFlash log and by replaying the telemetry log for the flight.

Can anyone recommend what to look for in the logs that might show exactly where and when the GCS missed missed the heartbeats? Are they tracked?

Thanks,

Paul

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@funth1ngs wrote:

Hi!

I’m flying with a Pixracer and get “EKF primary changed” errors in flight. It seems they come along with barometer spikes:

Is this some hardware problem?

Here is the log file:
00000013.BIN

Cheers,
Heiko

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@Anna_SPARKS wrote:

hi @rmackay9
I followed the tutorial on loading the firmware
http://ardupilot.org/copter/docs/common-loading-firmware-onto-pixhawk.html

I chose hexa type
but he shows me this error

please how can I load the firmware !!!

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@Ecoesp wrote:

Hello,

I am using Plane 3.9.0 on my X8 tricopter with pixhawk 2.1.

I use a configuration of 3 rotors and they all have mechanical rotation.

photo_2018-05-25_09-38-14.jpg720x1280 169 KB

It works very well but I have a problem with the tilt rotor, when I go from Q mode to ACRO or FBWA, the rear motor stops pushing.

How can I set the motor tilt to work in airplane mode?

Add my config params.

X8_Vtool_v6.param (16.7 KB)

Thank you!!

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@Theerawit_Tekitchamr wrote:

My diy plane is tailsitter with firmware V3.8.5 . After parameter were set up, I checked how elevon work with FBWA mode. Elevons were deflected correct,but in Qstabilize mode is reversed. What happen with this?

parameters are
AHRS_Orientation = 2 (yaw 90)
Q_FRAME Class = 10 (tailsitter)
servo1 = 78 (right elevon) and reverse
servo2 = 77 (left elevon)

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@Anna_SPARKS wrote:

hi @rmackay9
by following the wiki
I connect a 3DR GPS module with a cable that came with the sensor (6 pin -5 pin)
then I try with a cable with 6 pin, I detect it on APM but I do not get data

I flash the Pxhawk with the firmware 3.5.5
I detected the GPS (GPS fix () = 1)
but the latitude and log data are always zero
and my position on the map is the default (I am in France now)

gps.jpg1301x744 342 KB

is it GPS that does not work?
Or is it another problem?

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@ghawkins wrote:

Question: are there hobbyist time-of-flight (ToF) cameras, and if not are they likely to start appearing in the near-ish future?

The big promise held out by ToF is that one can build a 3D picture of a scene without the need for moving parts. To do this one needs a ToF camera, i.e. a ToF device with an array of pixels that in addition to the wavelength information, captured by the individual pixels of a traditional digital camera, also captures depth information.

At the moment all the hobbyist priced ToF devices seem to be simple rangefinders, i.e. you could attach one to the front of your drone and use it for simple forward facing crash avoidance but you couldn’t use it for simultaneous localization and mapping (SLAM) without adding something mechanical to spin it (as seen in the video for this hexapod using the TeraRanger One) or by using an array of them (like the TeraRanger Tower).

The TeraRanger One (at around $130 from the RobotShop) seems to be one of the lowest priced ready-to-go ToF sensors. There are cheaper units like the TFMini (around $40 from Sparkfun) or the VL53L0X hobbyist module for $15 from Adafruit but my impression is that these are not really ready to go in the same way as the TeraRanger One.

The fact that even at the $1K mark it still makes more sense to combine individual sensors (as in TeraBee’s tower) than to use a sensor consisting of a grid of pixels seems to suggest to me hobbyist priced cameras, capable of measuring the distances within a complete scene in a single shot, are still way off.

Does anyone see any signs that this is likely to change in the near-ish future, are there devices in the pipeline or are ToF cameras really just a thing for well-funded autonomous car researchers and the like for the time being?

At the moment LIDAR still looks like the best option for hobbyist SLAM. Obviously, you can buy something like the LIDAR-Lite (around $150 for the v3HP at Sparkfun) and build your own solution for rotating it. But for ready-to-go, the best solution currently, for hobbyists, seems to be the RPLIDAR A2 from Slamtec (warning: their site is super slow to load, for its ArduCopter documentation see here instead). Note: the more advanced A3 is either already shipping or almost ready to ship.

As I’m always inclined towards open-source hardware and software I did love the Scanse Sweep but it’s been retired and its producers have closed up shop (the Scanse website is now essentially closed). But it does look anyway as if the RPLIDAR is a better product (see this DIY Drones comparison) and cheaper (the Sweep sold for around $350 while the A2 is now available for around $320).

I’d be curious to hear what other products people think are interesting for SLAM in the hobbyist space (I’m defining hobbyist very broadly to mean anything in the sub-$1K range) beyond TeraBee and Slamtec products? Preferably devices where the device isn’t a separate project in itself, i.e. where you spend 6 months building and calibrating something to spin the sensor (however much fun that may be if that’s what you’re interested in, rather than a bigger overall project).

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@111120 wrote:

Hi,
For some reason I decided to check my apm version.
after I checked using the cli I discovered that the firmware has never update.
I update the firmware many times but with no success.
the apm refused to update and stays in 3.2.1 version.
the weird thing in that is the mission planner looks like there is no problem with the update and tell me that the software successfully updates.

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@vosair wrote:

Hey friends! I’m looking for any tuning advice. I’m familiar with tuning, but it’s mostly been on smaller rigs so far. I’m looking for maximum efficiency and smoothness.

Build
somewhat stretched (on the pitch axis) 1000mm frame
Pixhawk Cube
Here+ RTK
Hobbywing Xrotor 50amp ESC
KDE 4215 460kv motors
Mrobotics PDB
Tattu 22000 6s battery

http://arduplotter.com/view/5b08635f8905692d188d8019

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@Yes21 wrote:

I was looking for a way to receive both telemetry and video on a tablet with QGC.
My first choice was the “CUAV HackLink”, but I couldn’t by one for now.
So I’ve bought a “Insight SE 5G 1080P 200mW Full HD Digital Video System” : https://www.foxtechfpv.com/insight-se-5g-1080p-200mw-full-hd-digital-video-system.html

I had no difficulties to make it work with my pixhawk and a Xiaomi Yi action cam in 1080p. But it was only working with a dedicated app “Tower-Insight”. This is a modified old version of Tower which doesn’t give access to the connexion parameters for video and telemetry. I wanted to use it with QGC, but had no idea of how to connect it through the wifi stream.

So I’ve contacted the manufacturer of the product (ArgusFPV), and they answered me very fast and very kindly with the needed informations. Here is the answer :

step1. Pls download the QGroundControl software from the APP Store.
step2. Open the QGroundControl, and click the icon ¡°Q¡±.
step3. Click the button “General”, choose “RTSP Video Stream” from “Video Source”. Input
"rtsp://192.168.2.220:554/stream/1 " from “RTSP URL”…
step4. Click the “Comm Links” and "Add"
step4+. INPUT " TCP Link 192.168.2.220:2018" “192.168.2.220” and "2018"
step5…Important, after all setps, pls complete exit the QGroundControl software. (pls
kindly notice, not only exit the QGroundControl software, you should must be exit from
your IOS background.)

I can confirm that these informations are exact, and that I can now have the video and the telemetry in QGC via the wifi connexion with the Insight ground module.
That’s a great experience !!

I’ve not yet tested the range because it’s not yet on my quad. Will tell you later the results of my test.

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@Chernabog wrote:

Hi All,

I have a new LW20 installed on my agricultural survey rig and it had its first flight test today. It is working very nicely, following terrain over some particularily slopey fields however I can’t seem to find the last return values within the log.

I am running arducopter 3.5.5, the LW20 is on the I2C (configured as per what is listed in the ardupilot setup info here http://ardupilot.org/copter/docs/common-lightware-lw20-lidar.html).

I can see the RFND data within the log and I have good altitude values for Dist1, but Dist2 is all 0’s (Orient 1 is all 25’s and Orient 2 is all 0’s … not quite sure what these values mean). I was hoping to see Dist 2 being the last return so is there something else that needs to be configured (perhaps on the LW20 itself) or should I be logging another variable?

Thanks,

S.

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@Frank_Troost wrote:

Hi all,

I’m completely lost, I bought myself a pixhawk 2.4.8 to get my drone flying. On the pixhawk firmware I keep getting gps issue’s with ublox m8n gps not in sync.

So I switched to ardupilot, but now I’m get through all the calibration steps. It will first not arm cause fs_thr failsafe value. So I disabled that for the time being.
Now I am able to arm, but can’t get the motors to spin. Just all day, when troubleshooting this problem, the annoying beeping of esc’s.

If finished the autocalibration more then once, got the nice tune. After reboot in non calibration mode, it beeps like crazy again. Fast recurring short beeps.
Can someone enlighten me with what I’m doing wrong?

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@Cipta wrote:

Hello, I bought a new Hex Pixhawk 2.1 with just frsky telemetry and Here gps connected. It flies well but there are NLon values about 800 and MaxT 6000. Now I’m searching for the reason of this high values.

#NOTE: 25.05.2018 20:54:58 Frame :
ACCEL_Z_D,0
ACCEL_Z_FF,0
ACCEL_Z_FILT,10
ACCEL_Z_I,1
ACCEL_Z_IMAX,800
ACCEL_Z_P,0.5
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_RP_EXPO,0.3
ACRO_RP_P,4.5
ACRO_THR_MID,0
ACRO_TRAINER,2
ACRO_Y_EXPO,0
ACRO_YAW_P,4.5
ADSB_ENABLE,0
AHRS_COMP_BETA,0.1
AHRS_EKF_TYPE,2
AHRS_GPS_GAIN,0.8
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,-0.0005407971
AHRS_TRIM_Y,-0.01261965
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ANGLE_MAX,3500
ARMING_ACCTHRESH,0.75
ARMING_CHECK,1
ARMING_VOLT_MIN,15.4
ARMING_VOLT2_MIN,0
ATC_ACCEL_P_MAX,109466.6
ATC_ACCEL_R_MAX,103410
ATC_ACCEL_Y_MAX,27000
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,14.62681
ATC_ANG_RLL_P,16.93236
ATC_ANG_YAW_P,4
ATC_ANGLE_BOOST,1
ATC_RAT_PIT_D,0.007602723
ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FILT,20
ATC_RAT_PIT_I,0.2788994
ATC_RAT_PIT_IMAX,0.5
ATC_RAT_PIT_P,0.2788994
ATC_RAT_RLL_D,0.00906314
ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_I,0.266028
ATC_RAT_RLL_IMAX,0.5
ATC_RAT_RLL_P,0.266028
ATC_RAT_YAW_D,0
ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FILT,2.8
ATC_RAT_YAW_I,0.09
ATC_RAT_YAW_IMAX,0.5
ATC_RAT_YAW_P,0.9
ATC_RATE_FF_ENAB,1
ATC_SLEW_YAW,1500
ATC_THR_MIX_MAN,0.9
ATC_THR_MIX_MAX,0.9
ATC_THR_MIX_MIN,0.25
AUTOTUNE_AGGR,0.1
AUTOTUNE_AXES,3
AUTOTUNE_MIN_D,0.004
AVD_ENABLE,0
AVOID_ANGLE_MAX,1000
AVOID_DIST_MAX,10
AVOID_ENABLE,1
AVOID_MARGIN,2
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,32.6
BATT_CAPACITY,5000
BATT_CURR_PIN,3
BATT_MONITOR,4
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,9.978
BATT_VOLT_PIN,2
BATT_VOLT_TIMER,10
BATT2_AMP_OFFSET,0
BATT2_AMP_PERVOL,0
BATT2_CAPACITY,0
BATT2_CURR_PIN,-1
BATT2_MONITOR,0
BATT2_SERIAL_NUM,-1
BATT2_VOLT_MULT,0
BATT2_VOLT_PIN,-1
BCN_ALT,0
BCN_LATITUDE,0
BCN_LONGITUDE,0
BCN_ORIENT_YAW,0
BCN_TYPE,0
BRD_CAN_ENABLE,0
BRD_IMU_TARGTEMP,45
BRD_IO_ENABLE,1
BRD_PWM_COUNT,4
BRD_SAFETY_MASK,12543
BRD_SAFETYENABLE,0
BRD_SBUS_OUT,0
BRD_SER1_RTSCTS,1
BRD_SER2_RTSCTS,2
BRD_SERIAL_NUM,0
BRD_TYPE,3
BTN_ENABLE,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1500
CAM_SERVO_ON,1700
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH10_OPT,13
CH11_OPT,9
CH12_OPT,28
CH7_OPT,17
CH8_OPT,4
CH9_OPT,7
CHUTE_ENABLED,0
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
CLI_ENABLED,0
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_DEC,0.01987169
COMPASS_DEV_ID,723977
COMPASS_DEV_ID2,131874
COMPASS_DEV_ID3,263178
COMPASS_DIA_X,1.021173
COMPASS_DIA_Y,0.9544789
COMPASS_DIA_Z,0.9749514
COMPASS_DIA2_X,0.9772685
COMPASS_DIA2_Y,0.9935831
COMPASS_DIA2_Z,0.9910356
COMPASS_DIA3_X,1
COMPASS_DIA3_Y,1
COMPASS_DIA3_Z,1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,-0.00368621
COMPASS_ODI_Y,0.005619631
COMPASS_ODI_Z,0.01666899
COMPASS_ODI2_X,0.08974406
COMPASS_ODI2_Y,0.005046781
COMPASS_ODI2_Z,0.006416646
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFFS_MAX,850
COMPASS_OFS_X,61.66727
COMPASS_OFS_Y,69.69261
COMPASS_OFS_Z,130.4274
COMPASS_OFS2_X,283.0173
COMPASS_OFS2_Y,-270.5988
COMPASS_OFS2_Z,73.81197
COMPASS_OFS3_X,-644.2526
COMPASS_OFS3_Y,166.2077
COMPASS_OFS3_Z,74.06913
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PRIMARY,0
COMPASS_TYPEMASK,32
COMPASS_USE,1
COMPASS_USE2,1
COMPASS_USE3,0
DEV_OPTIONS,0
DISARM_DELAY,10
EK2_ABIAS_P_NSE,0.005
EK2_ACC_P_NSE,0.6
EK2_ALT_M_NSE,2
EK2_ALT_SOURCE,0
EK2_BCN_DELAY,50
EK2_BCN_I_GTE,500
EK2_BCN_M_NSE,1
EK2_CHECK_SCALE,100
EK2_EAS_I_GATE,400
EK2_EAS_M_NSE,1.4
EK2_ENABLE,1
EK2_FLOW_DELAY,10
EK2_FLOW_I_GATE,300
EK2_FLOW_M_NSE,0.25
EK2_GBIAS_P_NSE,0.0001
EK2_GLITCH_RAD,25
EK2_GPS_CHECK,31
EK2_GPS_DELAY,220
EK2_GPS_TYPE,0
EK2_GSCL_P_NSE,0.0005
EK2_GYRO_P_NSE,0.03
EK2_HGT_DELAY,60
EK2_HGT_I_GATE,500
EK2_IMU_MASK,3
EK2_LOG_MASK,1
EK2_MAG_CAL,3
EK2_MAG_I_GATE,300
EK2_MAG_M_NSE,0.05
EK2_MAG_MASK,0
EK2_MAGB_P_NSE,0.0001
EK2_MAGE_P_NSE,0.001
EK2_MAX_FLOW,2.5
EK2_NOAID_M_NSE,10
EK2_POS_I_GATE,500
EK2_POSNE_M_NSE,1
EK2_RNG_I_GATE,500
EK2_RNG_M_NSE,0.5
EK2_RNG_USE_HGT,-1
EK2_RNG_USE_SPD,2
EK2_TAU_OUTPUT,25
EK2_TERR_GRAD,0.1
EK2_VEL_I_GATE,500
EK2_VELD_M_NSE,0.7
EK2_VELNE_M_NSE,0.5
EK2_WIND_P_NSE,0.1
EK2_WIND_PSCALE,0.5
EK2_YAW_I_GATE,300
EK2_YAW_M_NSE,0.5
EK3_ENABLE,0
ESC_CALIBRATION,0
FENCE_ACTION,1
FENCE_ALT_MAX,200
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TOTAL,0
FENCE_TYPE,7
FLOW_ADDR,0
FLOW_ENABLE,0
FLOW_FXSCALER,0
FLOW_FYSCALER,0
FLOW_ORIENT_YAW,0
FLOW_POS_X,0
FLOW_POS_Y,0
FLOW_POS_Z,0
FLTMODE1,0
FLTMODE2,2
FLTMODE3,16
FLTMODE4,5
FLTMODE5,3
FLTMODE6,7
FRAME_CLASS,1
FRAME_TYPE,0
FS_BATT_ENABLE,0
FS_BATT_MAH,0
FS_BATT_VOLTAGE,10.5
FS_CRASH_CHECK,1
FS_EKF_ACTION,1
FS_EKF_THRESH,0.8
FS_GCS_ENABLE,1
FS_THR_ENABLE,1
FS_THR_VALUE,975
GCS_PID_MASK,0
GND_ABS_PRESS,95731.27
GND_ABS_PRESS2,95734.51
GND_ABS_PRESS3,0
GND_ALT_OFFSET,0
GND_EFFECT_COMP,1
GND_EXT_BUS,-1
GND_PRIMARY,0
GND_TEMP,0
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_HDOP_GOOD,140
GPS_INJECT_TO,127
GPS_MIN_DGPS,100
GPS_MIN_ELEV,10
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,-0.03
GPS_POS1_Z,-0.09
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
GRIP_ENABLE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,1442082
INS_ACC2_ID,1114914
INS_ACC2OFFS_X,0.110651
INS_ACC2OFFS_Y,-0.08529598
INS_ACC2OFFS_Z,0.8301674
INS_ACC2SCAL_X,1.025193
INS_ACC2SCAL_Y,1.028088
INS_ACC2SCAL_Z,1.035229
INS_ACC3_ID,1442826
INS_ACC3OFFS_X,-0.1678424
INS_ACC3OFFS_Y,-0.1307222
INS_ACC3OFFS_Z,-0.1108306
INS_ACC3SCAL_X,1.000424
INS_ACC3SCAL_Y,0.9981076
INS_ACC3SCAL_Z,0.9933378
INS_ACCEL_FILTER,11
INS_ACCOFFS_X,-0.2071083
INS_ACCOFFS_Y,0.05159247
INS_ACCOFFS_Z,0.1434088
INS_ACCSCAL_X,0.9983914
INS_ACCSCAL_Y,0.9978551
INS_ACCSCAL_Z,0.9919237
INS_FAST_SAMPLE,1
INS_GYR_CAL,1
INS_GYR_ID,2359586
INS_GYR2_ID,2229282
INS_GYR2OFFS_X,-0.03874057
INS_GYR2OFFS_Y,-0.05567125
INS_GYR2OFFS_Z,-0.00695269
INS_GYR3_ID,2360330
INS_GYR3OFFS_X,0.009249326
INS_GYR3OFFS_Y,0.02551181
INS_GYR3OFFS_Z,0.01442744
INS_GYRO_FILTER,40
INS_GYROFFS_X,-0.00128196
INS_GYROFFS_Y,-0.0008161855
INS_GYROFFS_Z,0.01249588
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,-0.05
INS_POS2_X,0
INS_POS2_Y,0
INS_POS2_Z,-0.05
INS_POS3_X,0
INS_POS3_Y,0
INS_POS3_Z,-0.05
INS_PRODUCT_ID,0
INS_STILL_THRESH,2.5
INS_TRIM_OPTION,1
INS_USE,1
INS_USE2,1
INS_USE3,0
LAND_REPOSITION,1
LAND_SPEED,30
LAND_SPEED_HIGH,350
LGR_SERVO_DEPLOY,1750
LGR_SERVO_RTRACT,1250
LGR_STARTUP,0
LOG_BACKEND_TYPE,1
LOG_BITMASK,174078
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_REPLAY,0
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,1500
MNT_ANGMAX_TIL,5000
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-1500
MNT_ANGMIN_TIL,-5000
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,14
MNT_RC_IN_TILT,13
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,1
MOT_BAT_CURR_MAX,0
MOT_BAT_CURR_TC,5
MOT_BAT_VOLT_MAX,16.7
MOT_BAT_VOLT_MIN,14
MOT_HOVER_LEARN,2
MOT_PWM_MAX,0
MOT_PWM_MIN,0
MOT_PWM_TYPE,2
MOT_SAFE_DISARM,0
MOT_SPIN_ARM,0
MOT_SPIN_MAX,0.95
MOT_SPIN_MIN,0.07
MOT_SPOOL_TIME,0.1
MOT_THST_EXPO,0.65
MOT_THST_HOVER,0.2968534
MOT_YAW_HEADROOM,200
NTF_BUZZ_ENABLE,0
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,1
NTF_LED_OVERRIDE,0
NTF_OREO_THEME,0
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_THR_BHV,0
PILOT_THR_FILT,0
PILOT_TKOFF_ALT,0
PILOT_TKOFF_DZ,100
PILOT_VELZ_MAX,250
PLND_ENABLED,0
POS_XY_P,1
POS_Z_P,1
PRX_IGN_ANG1,0
PRX_IGN_ANG2,0
PRX_IGN_ANG3,0
PRX_IGN_ANG4,0
PRX_IGN_ANG5,0
PRX_IGN_ANG6,0
PRX_IGN_WID1,0
PRX_IGN_WID2,0
PRX_IGN_WID3,0
PRX_IGN_WID4,0
PRX_IGN_WID5,0
PRX_IGN_WID6,0
PRX_ORIENT,0
PRX_TYPE,0
PRX_YAW_CORR,22
PSC_ACC_XY_FILT,2
RALLY_INCL_HOME,1
RALLY_LIMIT_KM,0.3
RALLY_TOTAL,0
RC_FEEL_RP,20
RC_SPEED,400
RC1_DZ,10
RC1_MAX,2000
RC1_MIN,1000
RC1_REVERSED,0
RC1_TRIM,1499
RC10_DZ,0
RC10_MAX,1999
RC10_MIN,1000
RC10_REVERSED,0
RC10_TRIM,1000
RC11_DZ,0
RC11_MAX,1999
RC11_MIN,1000
RC11_REVERSED,0
RC11_TRIM,1000
RC12_DZ,0
RC12_MAX,2000
RC12_MIN,1000
RC12_REVERSED,0
RC12_TRIM,1500
RC13_DZ,0
RC13_MAX,2000
RC13_MIN,900
RC13_REVERSED,0
RC13_TRIM,1500
RC14_DZ,0
RC14_MAX,2000
RC14_MIN,1000
RC14_REVERSED,0
RC14_TRIM,1500
RC15_DZ,0
RC15_MAX,2000
RC15_MIN,1000
RC15_REVERSED,0
RC15_TRIM,1500
RC16_DZ,0
RC16_MAX,2000
RC16_MIN,1000
RC16_REVERSED,0
RC16_TRIM,1500
RC2_DZ,10
RC2_MAX,2000
RC2_MIN,1000
RC2_REVERSED,0
RC2_TRIM,1500
RC3_DZ,0
RC3_MAX,2000
RC3_MIN,1000
RC3_REVERSED,0
RC3_TRIM,1000
RC4_DZ,10
RC4_MAX,2000
RC4_MIN,1000
RC4_REVERSED,0
RC4_TRIM,1500
RC5_DZ,0
RC5_MAX,2000
RC5_MIN,1000
RC5_REVERSED,0
RC5_TRIM,1500
RC6_DZ,0
RC6_MAX,2000
RC6_MIN,1000
RC6_REVERSED,0
RC6_TRIM,1500
RC7_DZ,0
RC7_MAX,2000
RC7_MIN,1000
RC7_REVERSED,0
RC7_TRIM,1000
RC8_DZ,0
RC8_MAX,2000
RC8_MIN,1000
RC8_REVERSED,0
RC8_TRIM,1000
RC9_DZ,0
RC9_MAX,2000
RC9_MIN,1000
RC9_REVERSED,0
RC9_TRIM,1000
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,55
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_ADDR,0
RNGFND_FUNCTION,0
RNGFND_GAIN,0.8
RNGFND_GNDCLEAR,10
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_ORIENT,25
RNGFND_PIN,-1
RNGFND_POS_X,0
RNGFND_POS_Y,0
RNGFND_POS_Z,0
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE,0
RNGFND_STOP_PIN,-1
RNGFND_TYPE,0
RNGFND2_ADDR,0
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_ORIENT,25
RNGFND2_PIN,-1
RNGFND2_POS_X,0
RNGFND2_POS_Y,0
RNGFND2_POS_Z,0
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RPM_MAX,100000
RPM_MIN,10
RPM_MIN_QUAL,0.5
RPM_PIN,-1
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
RSSI_ANA_PIN,0
RSSI_CHAN_HIGH,2000
RSSI_CHAN_LOW,1000
RSSI_CHANNEL,0
RSSI_PIN_HIGH,5
RSSI_PIN_LOW,0
RSSI_TYPE,0
RTL_ALT,1500
RTL_ALT_FINAL,0
RTL_CLIMB_MIN,0
RTL_CONE_SLOPE,3
RTL_LOIT_TIME,3000
RTL_SPEED,800
SCHED_DEBUG,0
SCHED_LOOP_RATE,400
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,1
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,10
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_PROTOCOL,5
SERIAL5_BAUD,57
SERIAL5_PROTOCOL,-1
SERVO_CANESC_BM,0
SERVO_CANSRV_BM,0
SERVO1_FUNCTION,0
SERVO1_MAX,2000
SERVO1_MIN,1000
SERVO1_REVERSED,0
SERVO1_TRIM,1000
SERVO10_FUNCTION,34
SERVO10_MAX,2000
SERVO10_MIN,1000
SERVO10_REVERSED,0
SERVO10_TRIM,1000
SERVO11_FUNCTION,35
SERVO11_MAX,2000
SERVO11_MIN,1000
SERVO11_REVERSED,0
SERVO11_TRIM,1000
SERVO12_FUNCTION,36
SERVO12_MAX,2000
SERVO12_MIN,1000
SERVO12_REVERSED,0
SERVO12_TRIM,1000
SERVO13_FUNCTION,0
SERVO13_MAX,2000
SERVO13_MIN,1000
SERVO13_REVERSED,0
SERVO13_TRIM,1500
SERVO14_FUNCTION,0
SERVO14_MAX,2000
SERVO14_MIN,1000
SERVO14_REVERSED,0
SERVO14_TRIM,1500
SERVO15_FUNCTION,0
SERVO15_MAX,2000
SERVO15_MIN,1000
SERVO15_REVERSED,0
SERVO15_TRIM,1500
SERVO16_FUNCTION,0
SERVO16_MAX,2000
SERVO16_MIN,1000
SERVO16_REVERSED,0
SERVO16_TRIM,1500
SERVO2_FUNCTION,0
SERVO2_MAX,2000
SERVO2_MIN,1000
SERVO2_REVERSED,0
SERVO2_TRIM,1000
SERVO3_FUNCTION,0
SERVO3_MAX,2000
SERVO3_MIN,1000
SERVO3_REVERSED,0
SERVO3_TRIM,1000
SERVO4_FUNCTION,0
SERVO4_MAX,2000
SERVO4_MIN,1000
SERVO4_REVERSED,0
SERVO4_TRIM,1000
SERVO5_FUNCTION,0
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,10
SERVO6_MAX,2000
SERVO6_MIN,1000
SERVO6_REVERSED,0
SERVO6_TRIM,1500
SERVO7_FUNCTION,7
SERVO7_MAX,2100
SERVO7_MIN,850
SERVO7_REVERSED,1
SERVO7_TRIM,1500
SERVO8_FUNCTION,8
SERVO8_MAX,2000
SERVO8_MIN,1050
SERVO8_REVERSED,1
SERVO8_TRIM,1500
SERVO9_FUNCTION,33
SERVO9_MAX,2000
SERVO9_MIN,1000
SERVO9_REVERSED,0
SERVO9_TRIM,1000
SIMPLE,0
SPRAY_ENABLE,0
SR0_ADSB,5
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,0
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_ADSB,0
SR1_EXT_STAT,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_PARAMS,2
SR1_POSITION,0
SR1_RAW_CTRL,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
SR2_ADSB,0
SR2_EXT_STAT,2
SR2_EXTRA1,4
SR2_EXTRA2,4
SR2_EXTRA3,2
SR2_PARAMS,10
SR2_POSITION,2
SR2_RAW_CTRL,0
SR2_RAW_SENS,2
SR2_RC_CHAN,0
SR3_ADSB,5
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
STAT_BOOTCNT,45
STAT_FLTTIME,2663
STAT_RESET,75051180
STAT_RUNTIME,35244
SUPER_SIMPLE,0
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
TERRAIN_ENABLE,0
TERRAIN_FOLLOW,0
THR_DZ,50
THROW_MOT_START,0
THROW_NEXTMODE,18
THROW_TYPE,0
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
VEL_XY_FILT_HZ,5
VEL_XY_I,0.5
VEL_XY_IMAX,1000
VEL_XY_P,1
VEL_Z_P,5
VISO_ORIENT,0
VISO_POS_X,0
VISO_POS_Y,0
VISO_POS_Z,0
VISO_TYPE,0
WP_NAVALT_MIN,0
WP_YAW_BEHAVIOR,2
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_LOIT_JERK,1000
WPNAV_LOIT_MAXA,250
WPNAV_LOIT_MINA,25
WPNAV_LOIT_SPEED,500
WPNAV_RADIUS,200
WPNAV_RFND_USE,1
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250

Pixhawk_2.1_NLon.JPG1919x538 85.1 KB

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@Felix wrote:

Hi!
I’m currently doing my head setup with a symmetrical pitch range of ±12 deg. I know it’s not really necessary to have -12 deg with a helicopter used with Pixhawk in a UAV operation. Nevertheless I’d really like to keep the symmetrical setup, because I fly all my other helicopters like that and it’s a way to feel where I actually am in the pitch range. So in any flight condition I can feel where the collective stick is and I instantly know what the helicopter is doing.

Now my problem is that the helicopter hovers at approx. 75 % of the collective pitch range. (Of course not at mid stick, because that’s 0 deg.) Switching to an automated flight mode (or back) would probably lead to a very rough transition. So my question is, if there is a way to move the deadzone of the stick from mid stick up to 75 %.

I looked at the THR_MID parameter, but as far as I understand that’s the exact opposite thing which helps me to move the hover point to mid stick. Am I right?

A workaround would be to program a pitch curve in my transmitter that puts out 50 % when my stick is actually at 75 %. But that doesn’t seem to be a very elegant way to me. Do you have any ideas?

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