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Non-GPS Navigation using Rover with ROS/Google Cartographer

November 15, 2018, 4:55 pm
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@rmackay9 wrote:


This is a first test of using Google Cartographer with ArduPilot Rover-3.5-dev with the help of ROS/mavros. There’s a GPS on the vehicle but it is disabled for this test as is the object avoidance.

The hardware used is:

The results are OK but not great (yet). Cartographer was certainly better than the earlier test with HectorSLAM (video, wiki) which is expected because Cartographer is 3D while HectorSLAM is only 2D.

For the most part, Cartographer was able to estimate the vehicle’s position within about 1m but there were times where it would suddenly deviate by 3 or 4 meters (look at the video around 1:30 and compare what the rover on the map does compared to the actual rover).

This is a work-in-progress and we’ve got some ideas to improve performance including:

  • upgrade the lidar to an RPLidarA3 (with 25m range)
  • check the update rate of IMU data flowing from ArduPilot to ROS/Cartographer. We should try and achieve at least 50hz I think
  • check the overall lag in the system by moving the rover back and forth and then compare the IMU data (from ArduPilot’s IMUs) to the position estimates received by ArduPilot from Cartographer (these appear in the VISP messages in the dataflash logs)
  • improve the clock syncronisation between the Cube and TX2 to better account for the lag in the system

As always this is all fully open source so you can find setup instructions are here on the developer wiki. If you’re interested in getting involved with this or other non-GPS navigation projects, you’ll find a helpful band of skilled developers the ArduPilot/VisionProjects Gitter channel.

Special thanks to Mario Rodriguez from EAMS Lab who has been doing the bulk of the work on this project.

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APM 2.8. One motor spins at full throttle when battery plugged in

November 15, 2018, 5:49 pm
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@DJIf550 wrote:

Hi.

I am building a DJI F550 with APM2.8. I have calibrated all ESC’s using the manual one by one method and all beeps seem to be fine. When I then unplug the LiPo battery to get out of ESC calibration mode and then plug it back in to begin to fly, after a few seconds one motor spins( number 6 in the HEXA X configuration) at full throttle and wont stop until I unplug the battery.
I am unable to arm the hex after this happens as well.

Any help would be greatly appreciated.
Thanks

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Error downloading logs

November 15, 2018, 5:58 pm
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@Jose_Ortiz wrote:

Hello, I just upgraded to chibios 3.6.1 and was trying to tune a quadcopter by looking at the dataflash log params yaw and des yaw, after the third flight i noticed i some of the logs went missing and after tweaking the yaw params reflying and trying download the dataflash log i recieved an error shown below.

error%20log
error log.PNG724x423 72.7 KB

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USB log file download speed

November 15, 2018, 7:39 pm
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@Verloop wrote:

We are flying long survey missions for gas pipeline inspection.

A typical flight last 45 to 60 minutes, which creates a log file between 200 to 300 megabytes.

The pixhawk cube we use is fixed inside the plane and not easy accessible. So we mounted an external USB connector, connected to the pixhawk USB connector (next to the I2C connector) so we can easily connect the pixhawk to a PC to download the log file.

Unfortunately it takes very long time, 200 MB takes around 12 minutes.

Even increasing the baud rate doesn’t seem to make any difference. Also connecting to the standard USB port on the side doesn’t speed thing up. No matter what baud rate we set, it is always taking the same time.

Are we doing something wrong?

PS: we also tried upgrading to Chibios, no improvement.

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I was given this drone

November 15, 2018, 9:37 pm
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@jayram1408 wrote:

It says on the bottom model #01735 And there are two of them, one for parts. However the controller was lost. Which controllers will work on it? Is there a better controller, worse one? I dont plan doing much of any type of modifications other than fly it and probably crash it. Also I see some say GPS, what is that referring to? Can these be programmed to fly with GPS coordinates? Also I was given a Blackfin 720 VR camera he says goes with it?

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Is ocusync user here?

November 15, 2018, 9:43 pm
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@Ricoman wrote:

Hello everybody Hello everyone

I made a quad copter for some tests!

Now I want to apply ocusync.

There was a video on youtube, but I could not understand what it was.

If i apply ocusync to pixhawk, i can see it in goggles.
In addition, I would like to monitor the quadcoptor’s condition here in the Mission planner.

I watched the video of that youtube.
It looks like the telemetry port is already assigned to ocusync.
So how do I connect a telemetry for monitoring mission planner to pixhawk?!?!

Or, if ocusync can act as a telemetry, what does the GCS-accepted telemetry use?

It’s hard to start with wiring in the first place.

Whereas sbus should be regarded as a pixhawk,
There is no information on whether RX TX is rx tx on the telemetry port or Rx tx on the other port.

180641po2il878olsowry2
180641po2il878olsowry2.jpeg1500x844 173 KB

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PreArm: GPS 1 failing configuration checks

November 15, 2018, 10:41 pm
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@francoisphil wrote:

Actually , i have this warning with 3.6.1, i have one GPS u-blox m8n , i have a 3D lock ,i have tried everything at parameters level in Mission Planner, nothing worked , so i masked the 4096 bit=gps conf check.
So far so good.
Historicaly , this happend after uploading a wrong firmware to my PX4v2 with QGC , then when i flashed AC3.6.1 , the problem appeared.Before i had no problems with AC3.6.0rc11.All my parameters and config were erased.
Any idea?How dangerous is it to mask this check?

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Coding for autonomous

November 16, 2018, 2:58 am
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Braked diff steering rover anyone?

November 16, 2018, 4:47 am
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@Pokerfjes wrote:

Just curious if anyone have tried out brake diff steering for a rover. I am toying with an idea to create a belt driven rover from a lawnmower. The only way I know to make this steer is to make use of brake diff steering - something I assume can be done with a regular steering servo.
I know this steering method is somewhat ineffective, and I think this type of steering makes straight line driving difficult. But with a single engine, diff based drivetrain - I fear this is my only option.

I noticed that the chassis subforum is deprecated. Can anyone recommend a good forum for discussing rover chassis and general tech?

Thanks!

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ESC Simonk; motor turn abnomal

November 16, 2018, 8:31 am
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Tailsitter Transition

November 16, 2018, 8:36 am
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@Jawnv71 wrote:

I’m working on a tailsitter and the issue is the loss of altitude during transition. Does the “automatic” transition, like in quadplanes, work on tailsitters? The windspeed indicator would be a trick, but I have some ideas for that. Has anyone tried? Thanks!

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Multiple Ardupilots, but status only

November 16, 2018, 9:01 am
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@jaygrovr wrote:

Does anyone know if I can setup a pixhawk cube or cubes to send me their position and heading data over an rf link using the new here+ or here v2 gps nodes? I have three vehicles i need to get position data from, but i want to use the higher precision gps with the base station. I know the rddesigns modems will do this in mulitpoint, but i am not sure how to reduce the data coming out of the apm cube. I literally just need its positioning data like 2-4 times a second for each rover.

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Autotune on a helicopter?

November 16, 2018, 11:50 am
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@Oliverl96 wrote:

As the title suggests I’m curious about using autotune on a traditional heli. Do people use it? Does it result in a decent tune etc.
Thanks

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Pixhawk4 install hangs APM Planner

November 16, 2018, 12:34 pm
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@mboland wrote:

APM Planner 2.0.26-rc2 (2.0.26-23-g718b06e)
Pixhawk 4
Firmware upload - Stable => Unknown Autopilot cannot fetch firmware versions.
Firmware upload - Custom => Screen hangs

29%20am
Screen Shot 2018-11-17 at 5.54.29 am.png949x690 19.6 KB

As you can see it is on the right USB port,
Sees the PX4 FMU v5.x

Mac OS X 10.14.2 Beta (18C38b)

I am trying to load Ardupilot onto this board (to replace the PX4 FW) without success.

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Amperage on a Quad and Battery voltage drops

November 16, 2018, 1:18 pm
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@Noah wrote:

Hi, I’m doing somewhat of a big project with a quad. We were able to do a hover test, but the battery voltage was just dropping fairly low. It dropped to around 30% from being full, which is close to what our failsafe is. We are using two 6S 14000mah Li-ion batteries in parallel. We are also using the KDE4215XF-465 as our motors, KDEXF-UAS55HVC as the ESC’s, and KDE-CF185-DP props. At 100% throttle these motors, combined with the esc and props, pull close to 70 Amps from what I see in the performance data. This should mean we need at least 280 continuous amp draw from the batteries, right?

What I’m wondering is if this is common for quads, or do I need a stronger battery. I found this guy on Amazon: https://www.getfpv.com/batteries/commercial-consumer-batteries/tattu-plus-22000mah-22-2v-25c-6s-lipo-smart-battery-pack.html
The max amp would be 22Ah * 25 = 550 cont. amp draw if I’m not mistaken. It has an unnecessarily high cont. amp draw but its the best one i can find on amazon(quickest too since its prime).
I re-checked our current batteries cont. amp draw and they max out at 40A so that’s not really good. So would this be the problem? If I were to replace them with this other battery on amazon would the voltage drop so drastically?

We’re doing another project with a small tethered drone. We were testing the performance today by tying a weight (about 5-10lbs) just to simulate the wire and added stuff to the drone for tether. This one also had the voltage dropping extremely low, to around 50% from full. For this one we were using a 4S 4500mah 35C LiPo battery. So the max cont. amp draw would be about 158 Amps. It should have been enough I think, but I’m not sure though.

Would both these problem be similar in that I need to get batteries with a higher capacity and/or higher C-rating?
Just for your information, we are using these batteries because we had them on hand.

Edit: So I’m thinking of getting one of these(whichever weighs less) and want others opinions on this before spending the $500 lol

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Pls, help analyzing hexacopter crash, with log and video

November 16, 2018, 3:31 pm
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@Webillo wrote:

Hi.

After updating to copter 3.6.0 with Chibios on an hexacopter with Pixhawk:
MSG, 80447492, ArduCopter V3.6.0 (2eedcf56)
MSG, 80447515, ChibiOS: ff603d11
MSG, 80447559, fmuv3 00430019 33375113 31313537
shortly after starting a mission (mode Auto), the drone flew away without control when descending towards a land waypoint, accelerated heavily and crashed.

The drone was being filmed from an external camera, and had also an onboard camera. The external camera video is this:
http://youtube.com/watch?v=2E7Z96ppuHk

The log is this:
Copter_20181101_14.bin

The fundamental problem is that a failure is clearly noticed on the video, but the first error apearing in the log (GPS glith) happens 5 seconds later. I don’t see the origin of the failure in the log.

The sequence of events which can be observed in the video are:
-Drone armed; mode Stabilize.
-24": mode changed to Auto (mission starts; yaw changed, pointing to ROI).
-33": failure. The drone descends normally towards a land waypoint, but being one meter above ground there is some kind of failure, height oscillates, the drone is accelerated heavily, and goes away without control, being stopped by a fence.
-41": the drone hits the fence. The GPS is disconnected (GPS logs stop, but not others); it was found 10m away.

So the most simple way to relate video and log is the instant of the last GPS message, which should correspond to second 41 in the video. It is:
87152 12:09:44.381 110893205
8" before should be the problem located, moreless at 12:09:36 102893205, around line 63312.

So the main events on both video and log are:
-Auto at 24" (35270 12:09:26.730 MODE 93242650 Auto).
-Failure at video 33" (moreless 63312 12:09:36 102893205).
-GPS Glitch (73569 12:09:39.948 MSG 106460143 GPS Glitch), 3.5" after the failure.
-Land mode change not obeyed (75624 12:09:40.448 106960070 Land), 4.4" after the failure.
-Moreless 4" after the failure RCOUT.C3 has a high value during 4.5". The drone, without control crashes.
-The crash is seen at second 41 in the video. The GPS is disconnected and thrown away (last GPS parameters at 87152 12:09:44.381 110893205).
-Log continues, so it seems that the electronics has been working all the time.

I can’t find anything going wrong around the instant of the failure as appears in the video. The first error message is a GPS glitch:
73568 12:09:39.948 ERR 106460126
73569 12:09:39.948 MSG 106460143 GPS Glitch
so that happens 4" after the failure is noticed in the video, and must be a consequence of other type of failure.

This is a graphic of ATT DesPitch and Pitch:

Copter_20181101_14_ATTDesPitch-Pitch
Copter_20181101_14_ATTDesPitch-Pitch.png1366x429 14.1 KB

DesPitch starts to grow anormally around:
69437 12:09:38.248 104760026
so that happens 2" after the failure is noticed in the video. Something must have failed before.

This is a graphic with other events:

Copter_20181101_14_events
Copter_20181101_14_events.png1366x442 14.5 KB

The white dotted line corresponds moreless to the failure noticed in the video.
GPS.Spd starts to grow abnormally at moreless:
72757 12:09:39.401 105913163
so that happens 3.4" after the failure is noticed in the video.

The first glitch (12m) in RFNDDist1 happens moreless at:
71283 12:09:39.043 105555302
so that happens 3.4" after the failure is noticed in the video, and is probably due because it is a sonar, and probably the drone, out of control, points to a distant point.

So up to now, something unknown to me has failed, and has measurable consequences. There is a Mode message change to Land:
75624 12:09:40.448 106960070 Land
so that happens 4" after the failure is noticed in the video, but the drone does not land.

This is a graphic of RCIN.C3 and RCOUT.C3:

Copter_20181101_14_RCINOUTC3
Copter_20181101_14_RCINOUTC3.png1366x442 15.3 KB

so noticing the failure I pulled throttle to a minimum at
69679 12:09:38.648 105160350 1090
so that happens 2.6" after the failure is noticed in the video, but was useless since mode was Auto.
Instead, it is observed that from moreless
73178 12:09:39.848 RCOU 106360457 1858
to
86616 12:09:44.248 RCOU 110760243 1888
the drone is accelerated heavily making thing go much worse, and that happens during moreless 4.5", as can be checked in the video. The drone finally crashes. Not only the drone does not land, but being out of control is heavily accelerated.

The GPS is an RTK one. GPS.Status is 5 (RTK Float) at the crash. It goes to 4 during some instants, starting at:
72757 12:09:39.401 105913163
so that happens 3.4" after the failure is noticed in the video, coincident with the RFND.Dist1 glitch mentioned before, so can be explained because the antenna didn’t point up during some instants, and can’t be the cause of the failure.

Questions:
-What can be the primary cause of the failure observed at second 33 in the video?
-Why does not the drone land and stays out of control?
-How can it be that RCOUT.C3 after the failure can have high values and cause a crash?
-What can be done to prevent such a failure?
-Am I missing something

The video on the on board camera is:
http://youtube.com/watch?v=Gvwfjh8QWp0
but does not give much information, more than the motors noise at the failure.

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ArduBoat PID control system

November 16, 2018, 6:02 pm
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@oceanengineer wrote:

Hello ArduPilot community,

I am currently working on a CDR report for my senior design project which is an autonomous fire extinguishing surface vessel. This vessel must autonomously navigate to the fire (target) and saturated it with 300 liters of water from each side. We will use the Pixhawk for navigation and loiter mode.

I know it uses a PID controller, but does anyone know if there is some information on the actual control system implemented? Such as the equation of motions or the transfer functions? I would like to write about it and maybe do some simulations.

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Mission planner gstreamer pipeline question

November 16, 2018, 6:22 pm
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@joonyoung86 wrote:

When i type below in command prompt, new screen pops up and play real time video from Navio2.
gst-launch-1.0 -v udpsrc port=9000 caps=“application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264” ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=f
D3D%20video%20sink

But I want to use Mission planner istead of ‘D3D video sink screen’

I have no idea what data to put at the ‘GStreamer url’

please help…

image image image

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QGC have no audio output in Android

November 16, 2018, 9:24 pm
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@xingxing wrote:

hi, my QGC have no audio out put even i didn’t check the mute audio, I can see the message if i open the message box, any one have the same problem？

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How do I remap my motor outputs

November 17, 2018, 12:17 am
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@DJIf550 wrote:

Hi

I have an APM2.8 and I am building a hexacopter. I have found that motor output number 6 is not working. Can someone please help me remap the motor 6 to an unused output port such as number 7 or 8?

Thanks

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