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Collective jerk when disarming after land

May 26, 2018, 10:38 am
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@carlosanlley wrote:

The problem:
During bench test I notice that after the arducopter thinks it has landed and proceed with disarming the motor, the collective servo does a jerk from full negative to positive and back to full negative. I do have the PILOT_THR_BHV set to 4 (disarm on land detection), and it is successfully disarming the motor, but I do not know the reason for the collective behavior at this moment.

My setup:
Xcell 99SE converted to electric
Align 750MX 530kv motor
CC Phoenix Edge MV 160 in governor mode
Pixhawk 1, Arducopter 3.5.5

Bellow is a link to a youtube video where the problem can be seen:


0:04 - Arming via MP
0:08 - Ch8 throttle its being activated for the governor on the ESC
0:10 - Full Positive Collective applied
from 0:10 to 0:18 - Spool up time
0:18 - It tries to takeoff
0:20 - Full Negative Collective applied in order to "land"
0:24 - Disarm + Collective Jerk

This is a printscreen of the tuning window in the MP that shows the ch3 (collective) reaction:

image
image.png1169x427 39.7 KB

Logs in Dropbox below:

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Building and uploading examples

May 26, 2018, 4:49 pm
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@pietropier wrote:

Hi all,

I’m very new to Ardupilot. I’m trying to build and upload one of the examples, let say INS_generic, on a PixHawk 2.4.8, using OSx.

I followed the guide on setting up the build environment, in particular:

./waf configure --board px4-v2
./waf build --target examples/INS_generic --upload

The build seems like it worked, as I now have the previously empty /build/ folder populated with build/px4-v2/examples/INS_generic.px4. However, when connecting to a serial monitor (e.g. Arduino monitor), and entering “help” command, contrary to what I’d expected, the INS_generic application is not listed.

I think I’m missing something in the basic understanding of the building process, any comment will be very much appreciated.

Thanks!

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RC IN - can it alternate between PPM and SBus?

May 26, 2018, 5:06 pm
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@RogerR wrote:

I’m trying to support two control paths to PixHawk.

  1. 12 channel PPM from the RFD900x PPM output. This CPPM stream comes from the trainer cord of an FRSky X9D transmitter. This link is longer range but is cord tethered, so it’s inconvenient during takeoff and landing operations.
  2. SBus from an FRSky XSR receiver. For short range operations.

I can choose between these sources using GPIO pins on the RFD900x for the selection. Imagine that I control a relay (although I might use something solid state) and switch the RCIN signal between the SBus and CPPM sources.

Both the CPPM and SBus signals are suitable for use on the RCIN port on PixHawk. My question is whether the PixHawk can sync to a new protocol within a frame or two…or whether the protocol on the port is determined “early” and not determined on the fly.

I can use CPPM from the XSR, but only with 8 channels. In that configuration, the question would be what happens if I switch between 8 channel and 12 channel CPPM. Would the missing channels retain their last value…or go to a failsafe position?

RR

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Too high auto-land attempt

May 26, 2018, 9:16 pm
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@PeterMD wrote:

Hello guys, I need your help. Yesterday I tried the ArduPlane feature - auto landing. It didn’t work as I expected - the plane flew about 2 meters above the place when I wanted it to land. I changed mode and landed with RC control. Baro reached 0 but rangefinder not. As RNGFND_LANDING was set to 1 I thought that it should take rangefinder altitude as primary (during landing). That situation is after 1,76 on an X-axis.

During log analysis, I noticed strange climb to 40m between 1,73 and 1,74. As you can see in the mission screenshot there aren’t any waypoint at that altitude. The plane loitered to 30 meters and right after that climbed 10-meter higher. I can’t understand why.

I’d appreciate if anyone can help me.
Best regards
Peter

https://drive.google.com/file/d/1MqSSG5F7xYbAcET-4ustCRcyo5P5sw9f/view?usp=sharing
waypointslog_graph2messages

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Cannot make my parameter work

May 27, 2018, 12:18 am
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@sergbokh wrote:

I’ve developed a small new lib, placed it into /libraries. Then I want to add new parameter to parameters list. So I looking at SmartRTL lib as a reference and did same things:

  • added var_info[] definition into cpp and h files of my lib.
  • added AP_SUBGROUPINFO into Parameters.cpp and my class member to Parameters.h (ParametersG2 class).

Everything compiles and working well but when I changing my parameter in MissionPlanner - my code does not see that change. Even after a restart. E.g. AP_Int8 field in my code always have the default value defined in AP_GROUPINFO

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Tower compatibility question

May 27, 2018, 1:21 am
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@1280MHz wrote:

Will tower (4 or latest beta) work on a Samsung Galaxy A6 (SM-T580 2016) Running Android 7. I am primarily trying to use it to connect to dragonlink via USB or Bluetooth (mavlink)?

If not what version will?

Thank you.

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World tech elite recon apm v252 v5.0 diagram

May 27, 2018, 2:18 am
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@seaofdep6 wrote:

i have a apm from a world tech elite recon follow me drone.It is the same exact F/C thats in the cheerson cx20 only difference is the con board on my apm is a ribbon cable . i already have control using my th9x transmitter by going through the ppm pins directly. what i cant seem to find is a diagram on this exact board with all pins labeled. i did some trace with MM and found gps pins but time consuming. can anyone help me out

thank you and sorry for my bad english

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Maybe something wrong with serial 5 on cons port

May 27, 2018, 2:18 am
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@Corrado_Steri wrote:

Hello, i am using serial 5 on cons port on a pixhawk 2.1, it works but out of 5 starts the flight controller hangs up a couple of times on startup.

Is there anything i have to to to use cons port on serial 5 apart the usual settings on the serial itself?

Just to make it clear, whaen the unit starts the serial works and telemetry data flow to my frsky telemetry on that port but on startup the unit sometimes (about 2 hangs up every 5 starts) locks up and motors keep beeping.

Corrado

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Autotune on big X8 unexpect behavior

May 27, 2018, 3:41 am
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@iamtawon wrote:

I use position hold auto-tune with my X8 22" props in Roll axis everything went fine and the auto-tune is done
before landing and still in autotune mode it hover really good ( very distinguishable from before tuning using stock PID) then I land and check the PID value, see that I got a new set of PID then take off again in Loiter mode
and the drone is not stable anymore very twitchy. I did the autotune again fly really good after autotune landed got new set of PID, take off and get twitchy again.

I havn’t lower the pitch/roll filter to 10Hz and also did not reduce the aggressivity. which is what I will try next

but how come my drone fly really good right after tuning? I thought it is because of the new set of PID that cause it but after landed the magic spell has gone are there any other parameter change during autotuning?

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RTL MODE IS NOT WORKING

May 27, 2018, 3:59 am
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Add new custom mavlink message for 3.6

May 27, 2018, 4:43 am
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@promistrio wrote:

Let’s see on guide. First, second, third and fourth steps are easy. I just add message in ardupilotmega.xml and build ardupilot.

I want to receive message from GCS and send it via gcs().send_text. First problem. commands_logic.cpp is not exist. Secondly, where should I read and send messages? In my opinion, in GCS_MAVLINK_Copter messages are sent to GCS from ardupilot(I say about mavlink message not gcs().send_text). May ardupilot/libraries/GCS_MAVLink/ is better way for adding custom message?

I see a few classes in ArduCopter/GCS_Mavlink.cpp “Copter” and “GCS_MAVLINK_Copter”. Which the defferent between it? For example, function from Copter don’t use in code(github search don’t find it Copter::send_nav_controller_output()).

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Trying to tune my rover

May 27, 2018, 4:52 am
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@count74 wrote:

Hi,

I am trying to tune my rover, but I can not get consistent results. For example the rover drives in a straight line with little to no weaving, but if I let it drive the same way in the other direction, it weaves like crazy.
The rover has two driven wheels (225mm diameter) and a pivoting roller. Motors are 510kv sensored brushless running on 2s 4000-16000mAh with a 24:1 reduction gear. It behaves just fine in Acro and Steering mode. I disabled the two external compasses, using only the Pixhawks internal one, which finally resulted in no “bad compass health” or “inconsistent compass” messages. It looks like this:

20180527_134351
20180527_134351.jpg534x949 74.8 KB

and here is the log file from today:

https://drive.google.com/open?id=1b9aqqnyRIf2CwSnaE6G5TBQ0fatbpQdw

If anyone could have a look at the log and perhaps give me a hint what parameters to change, I would be very grateful.

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Is sonar work in auto mode?

May 27, 2018, 5:43 am
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@emsoft1 wrote:

hi guys i want to setup sonar for working in auto mode i want to know is it possible because i read in wiki page is just for althold and loiter and land ?
is it posible to use it in auto mode ?

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SITL - sym_vehicle parameters

May 27, 2018, 6:27 am
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@Grisha wrote:

Hi
I am using sim_vehicle.py with Gazebo. It loads deafult parameters from gazebo-iris.parm
I payed attention that when I change any parameter using “param set” command in MAVProxy, it doesn’t change it back to the value in gazebo-iris.parm.
For example the value of ATC_ANG_RLL_P 4.5 in gazebo-iris.parm, I set it to 10 (param set ATC_ANG_RLL_P 10), it stays 10 in next simulations. I do can change other parameters from the copter.parm file, bot the parameters i’ve ever set from MAVProxy are not affected. Even reset to PC doesn’t help
Any advise?
Thanks

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List of available servo functions is incomplete

May 27, 2018, 8:48 am
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@wazoo22 wrote:

I’ve been working with (lurking?) the tailsitter development thread, and I need to find a complete list of the possible servo functions. Somewhere in the past I came across such a list, but I lost it, and the one in transitioning from 3.7 to 3.8 is incomplete. Where can I find the complete list? Or should I ask in the development thread? Seems kinda off-topic for that thread.

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Rotating crash with 3.4.6 Hexacopter

May 27, 2018, 10:12 am
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@MickeM wrote:

Hi,

After several successful flying missions, the last one… wasnt. And we cant figure out why. =( Can we rely on Pixhawk 2.1 / firmware with the other aircrafts is the question until we find the problem.

Hardware:

  • Frame: Tarot FY680 Pro Hexacopter with PDB
  • ESCs: BirdsEyeView Aerobatics FireFLY6 30A OPTO ESCs
  • Motors: BirdsEyeView Aerobatics FireFLY6 400+W 1300KV-motors (3S)
  • Propellers: APC 10x4.5" MR
  • Controller: HexAero ProfiCNC Pixhawk 2.1 with CarrierBoard
  • PM: 3DR 90A 10S
  • GPS: HexAero Here+ RTK
  • Telemetry: 3DR 433MHz SIK-radio
  • Receiver: Futaba R7003SB 2.4GHz FASSTest with 3300uF electrolyte capacitor for 5V
  • Camera: Sony A6000 with Drotag
  • LiPo’s: Dual (parallell) GensAce 3S 6000mAh 30C
  • (Transmitter: Futaba T14SG v5.0 2.4GHz FASSTest

Software:

  • Mission Planner
  • APM:Copter 3.4.6 (the latest at the time it was built and firmware’ed)

The multicopter have been flying great and all have worked great! But this last flight:
Stabilize mode, started flying up and away a bit as planned, switched over to Loiter (still flying up and away) and shortly after that switching to Auto. The multicopter started turning to WP1 (still increasing height) and then it started yawing fast in the other direction, faster and faster (1 revolution per second in the end). It still increases height and travelling to WP1, but rotating. Engaging RTL and it continues to WP1 a few seconds (same smooth curve) but then starts descending, faster and faster until it crashes feets down, not at Home position. This is seen in the KMZ-file as well. All this happens the first 20 seconds.

The LOG-file gives a lot of information, but we cant find out why it starts rotating and what makes it descend in the end.

I have desmantled the hole multicopter to find the fault.

  • Nothing have loosened (all things are there they should be)
  • No arms have turned
  • No arms have jumped out of the holders
  • All screws are tight
  • All cables are okay as I can see (the only connectors on the multicopter are the ones on the Pixhawk and the batteries)
  • Power to all things works as it should
  • Motors and ESC works fine
  • LiPos are good.

KMZ: https://1drv.ms/u/s!ArRUW2agVpZnizJf4sAiXShar1ku (look at the line on the ground in Google Earth)
LOG: https://1drv.ms/u/s!ArRUW2agVpZnizNtQ6Oh_3NWxA76

It would be very helpful if anyone could find a problem…

What’s damaged? All propellers. Three booms (arms). Nice though! =)

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Moved to the 3.9.0 section - VL53LOX Rangefinder and Arduplane 3.9.0 (beta)

May 27, 2018, 12:11 pm
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VL53LOX Rangefinder for Landing Flare

May 27, 2018, 12:13 pm
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@flyingw wrote:

I am experimenting with and hope to use a VL53LOX rangefinder to help with determining the altitude at which to flare in an auto-landing. On the bench I observe that the unit can deliver reliable distance of up to 110cm, or about one meter.

Arduplane has two related parameters:

RNGFND_LANDING. If set to 1, then the autopilot will use the rangefinder for both the landing approach and flare.

RNGFND_MAX_CM. The maximum reliable distance in centimeters that the rangefinder can measure. I set this to 100cm (1 meter) based on its performance on the bench.

I understand that the landing approach will start far above 1 meter in altitude.

During the landing approach will the autopilot use barometric pressure for altitude until the rangefinder delivers a value of 1 meter or less?

Thanks,

Paul

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Holybro Kopis1 / Kakute F4 on ArduPilot

May 27, 2018, 5:27 pm
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@rmackay9 wrote:


A video of the first flight of the Holybro Kopis1 racing drone loaded with ArduPilot. This is a low cost ready-to-fly racing drone that normally comes loaded with BetaFlight/CleanFlight but now, thanks to our ChibiOS port ArduPilot can be uploaded onto the Kakute F4 flight controller that’s on the drone.

There’s a new wiki page for this board in our “AutoPilot Hardware Options” section of the wiki. At the time this blog was written that page does not include how to upload the firmware but in short, it involves:

  • flashing an ArduPilot compatible bootloader onto the board
  • using MP (or other ground station) to upload ArduPilot

In the near future we plan to create an ArduPilot firmware for this board that includes the bootloader so that users will upload this firmware once after pushing the “dfu” button on the board but from then on can use the regular ArduPilot compatible ground stations.

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Maiden on S600 build, suggestions on where to go from here

May 27, 2018, 8:25 pm
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@garlinto wrote:

Earlier today I maidened a new S600 build:

S600 frame
Holybro Pixhawk 2.4.6 w/ GPS, 915mh temetry and power module
Lumenier BLHeli_S 35A x 4 Opto ESC
Sunnysky 2216-11 870kv w/ 1045 props
Frsky XSR Rx
3S @ 2200mAh (for now)

After I reversed my pitch control the maiden went very well. The craft was immediately flyable with stock setup per the ArduCopter manual. I accidentally entered circle mode but recovered and tried the land feature and was very impressed. Such a nice soft descent and touchdown.

I have included my 4 minute flight log. I have looked it over but would like to have you professionals weigh in on the results. I’d like some suggestions on where to go from here: How would you recommend I improve things? I want to use the drone as a mapping and aerial inspections. Smooth, stable and vibration free are my end goals.

S600 First Flight Log

Also, curious about your thoughts on batt/motor/prop combination. I noticed that I am at about 55% throttle to hover, and my AUW actually needs to be a bit higher. Am I underpowered? Or do I need to prop those motors differently? Should I be using 4S batteries?

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