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ArduRover with the Pololu Romi

May 5, 2019, 2:24 am
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@stephendade wrote:

For those wanting a cheap, simple indoor rover for running APM, here’s a quick guide for building one with the Polulu Romi.

IMG_20190505_124803

Parts:

For manual control, you also want an RC transmitter/reciever.

Connect up the power and signal lines as per the below diagram. A soldering iron, headers and some jumper cables will be needed to make the connections:
Romi%20Layout

For the motor signal lines from the Kakute -> Motor Controller, the connections are:
M1 -> BENBL
M2 -> AENBL
M3 -> BPHASE
M4 -> APHASE

After putting on the ArduRover firmware and going through the various calibrations, the motor configuration needs to be set up.

Set the following variables to configure the board for 2x brushless motors with skid steering:

    RELAY_PIN	        52
    RELAY_PIN2	        53
    BRD_PWM_COUNT	2
    SERVO1_FUNCTION	73
    SERVO2_FUNCTION	74
    MOT_PWM_TYPE	3

Note that RELAY_PIN and RELAY_PIN2 may vary depending on which flight controller you use (in the above case it’s for a Kakute F4 V2). Go to the flight controller’s “hwdef.dat” in https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef and check the GPIO numbers for PWM(3) and PWM(4). Put the n in GPIO(n) into RELAY_PIN and RELAY_PIN2 parameters respectively.

This can be extended into a computer vision platform with the addition of a Raspberry Pi (I used my KakutePi board for easy integration) and camera.

Pololu also have wheel encoders for the Romi. If the flight controller has 4 spare AUX ports, the wheel encoder data can be fed into ArdrRover for better indoor navigation.

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Odroid and pixhawk mavlink connection?

May 5, 2019, 3:32 am
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are there known uses of jetson nano for ardurover/pilot

May 5, 2019, 7:23 am
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Problem Installing Copter 3.6 Firmware to Pixhawk 1

May 5, 2019, 9:43 am
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@btstone4 wrote:

Hello, I am having problems with installing the arducopter 3.6 firmware to my Pixhawk 1. This is an unedited fork of the ardupilot code. I used the WSL waf compiler to compile my code. In the terminal, it appears to compile successfuly. But, when I go to install it on my Pixhawk 1 using Mission Planner, the Pixhawk doesn’t operate correctly after the install. The first sign that my Pixhawk is not operating correctly is that it doesn’t play the musical tone right after the firmware installs. Also, it won’t connect to mission planner. My assumption is that their is some issue with the firmware because my Pixhawk 1 will work fine with the latest arducopter firmware that is found on ardupilot.org. Any assistance would be greatly appreciated.

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Software Virtual Camera Trigger

May 5, 2019, 10:27 am
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@Mr.C wrote:

Hi All I’m by no means a developer but it has occurred to me that with the growing need to inspect the likes of structures and more so wind turbines it seems to me that we are missing a trick.

If we run an autonomous survey mission over ground we have DO_CAM_Trgg_time, Do_CAM_TRIG_Distance. (I think thats right). But nothing for vertical. I don’t want to do these types of work Autonomously. or by an expensive device to record the trigger data when we have a perfectly good system already. Its just lacking one feature.

So the net result is we get images and a log file with the CAM or TRGG messages in it. We can also right click on the map and Trigger Camera Now.

So my question is can a script be run to take pictures every X second or so? this would mean that we get all the necessary information needed to model a structure. Ideally the scrip would work off a configured switch but then repeats the action by invoking the script. So a software driven switch that can be set to run and ideally stop through the action of moving the cam switch.

I have looked high and low through all the amazing perameter in Copter but find no option. So hence the idea of a software virtual switch.

Many thanks

Andrew

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Turn over during take off

May 5, 2019, 1:21 pm
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@Piotr_Wlodarczyk wrote:

Hi,

I read some post about similar problem that mine, but i could not find solution.

I have problem with turning over copter during take off. I’m not sure, but it doesn’t looks like all the time it flips on the same edge.

For beginning I’ll past my bin DataFlash log: https://drive.google.com/open?id=1Kbrp_2khdQ0pYFRPXc3YXe0ndtaHQvoF

Now some information about costruction. So it’s 4 motor copter in X orientation. Pixhawk 2.4.8 (white) with ArduCopter 3.6.8. Low KVM (680) Multistar with big battery 20000mah. I’ve calculated on https://www.ecalc.ch/ that drone should flight anout 20-25 min and have some power reserve.

Until first take off try I was suprised that copter don’t move up no one cm. So I’ve checked propellers and motor and I’ve discovered that I’ve bad mounted proppelers or wrong motor direction. After few minutes I was sure that proppelers are good mounted, but motor spin are reversed (CCW was CW and CW was CCW). So i decide to change wiring ESC to Pixhawk and change propellers.

change
change.png1152x648 15.6 KB

Side effect was new orientation of pixhawk. In my calculation was -90 (previous front was on new left) so i’ve changed AHRS_CUSTOM_YAW. Af course I could change pixhawk physical location but lack of stuff stopped me.

I’m not sure it’s important but I have ESC with BLHELI Dshot 150 configuration and averything configured as is described here: http://ardupilot.org/copter/docs/common-dshot.html (except blue wiring from telemetry and pass-thru) I did one change, i’ve setted SERVOn_TRIM (for n: 9-12) to 1100 because of arming failsafe error:
PreArm: RCn minimum is greater than trim

My configruration: parameter.param (15.6 KB)

I’m not newbie as copter pilot, but new in Ardupilot and I cannot understand what’s going wrong and why always during take off probe copter is turning over.

Can You please look at logs and tell my what’s going?

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Emlid Edge vs Pixhawk 4

May 5, 2019, 6:08 pm
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@BMohl wrote:

Hello, anyone using Emlid Edge Module with the latest ardupilot software? Pros or Cons? Thoughts on the Emlid Edge versus Pixhawk 4?

Regards,

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Possible/Likely Bug is Servo_Autotrim

May 5, 2019, 9:56 pm
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@Marc_Dornan wrote:

I have some very odd behavior when I set SERVO_AUTO_TRIM to enable on my Nano Talon flying the latest release of 3.9 on an Omnibus F4 Pro V3.

At some point in the flight, often at the very end, but not always, the auto-trim sets the deflection to maximum on my ailerons. The plane does not crash but it starts a violent oscillation as the FC fights this full deflection. It seems it counteracts the deflection and then goes back to fully deflected in an oscillating manner. I but retain control in FBW A. I land, reset the aileron trim to 1500 (center) take off and fly and the same thing happens. Here is a pic of the deflection when I land with my radio sticks centered.

Here is a log of a flight when this happened.

It is not spurious – it happens every flight pretty much. Since I disabled the auto trim setting I have no issues. The plane flies pretty well in wind even – it still needs a proper tune, which I can now do as I have solved this issue. It is a well behaved plane.

None of my other planes exhibit this behavior.I wonder if it is related to the small size of the Nano Talon - cannot think of another reason. I think it is worth looking at as it could have some nasty outcomes, potentially.

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PixHawk Flight control problems

May 5, 2019, 11:10 pm
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@pya942976269 wrote:

In the optical flow mode, the EKF2 is enabled, but the drone cannot rise to a height of more than 3 meters, but in manual mode it can rise to more than 3 meters, requesting advice

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Real-time flight data transfer from Mission Planner to Matlab

May 5, 2019, 11:10 pm
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@Ashi wrote:

Hi all,

I am trying to send real-time flight data from Mission Planner (using MAVlink option) to Matlab via TCP/IP. I received some data in MATLAB but that data were encrypted. How to resolve this problem?
Is there any other way to send real-time flight data from Pixhawk Quadcopter to Matlab?
Any help would be greatly appreciated

Thank you in advance.

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How to control motor PWM directly...?

May 6, 2019, 3:31 am
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@Willa wrote:

Hello,
we are planning to mount a multirotor in a large wind tunnel. The propellers need to turn at a realistic speed for each wind speed.
Front and rear motors do turn at different speeds in forward flight, and I need to replicate this inside the windtunnel. So I need to set the PWM of each motor individually. Is there a way to do this? In Betaflight, I can set the speed of each motor in the configurator (see image) - is there something similar possible with arducopter?
It will not be possible to connect the motors to a different port on the FC. We are using the black Cube and 500 Hz PWM.

BF_motors_1
BF_motors_1.jpg1600x900 132 KB

Thanks for your input!

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Misuse antenna tracker as follow cam

May 6, 2019, 3:50 am
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@Arkon wrote:

Hey guys,

I’m looking for a fairly ease an inexpensive way to set up a ground camera which follows my RC airplanes. I was thinking of building a small box with FC and GPS which I can throw in a craft and make the antenna tracker follow it.

Since I haven’t set up a tracker yet I’m not sure how smooth they can be set up. That’s something I’d like to ask the experienced users :slight_smile:

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HeliQuads connection

May 6, 2019, 5:25 am
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@omri wrote:

Hi!
Im trying to build an heliquad with pixhawk, I did follow some gudies but with no success to control the servos. Im looking for some connection diagrams of the system.
I defined the frame to be 13 and the quad is H.
also if you have more tips to this project it will be helpful.
I`m using electric motor.

thanks Omri

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How to do map building simulation using SITL

May 6, 2019, 6:16 am
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@darshankt wrote:

I have created the gazebo environment, then i spwan the sitl iris model attached with rplidar inside this environment. The rplidar sending scan data on laser/scan topic which is visualizing in rviz successfully but when I ran the slam_gmapping node in the other end to build the map but I’m not getting the map.
Is there any other way should be followed to build the map of gazebo environment using sitl.
I have a planned to implement the same map building process with real quadrotor also, can anybody tried the same this kindly help me.

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How to convert iris sdf model into iris urdf

May 6, 2019, 6:26 am
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@darshankt wrote:

I want to visualize the iris robot model in rviz, I’m trying sitl with iris sdf model. suppose if I convert iris sdf model to urdf, is it work with sitl?

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X-Plane 11.33r2 not receiving commands

May 6, 2019, 8:04 am
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@TunaLobster wrote:

I can get X-Plane to output data and mission planner and mavproxy display it. The data is not working the other way. I checked that I am using the ports that are defined in the SIM_XPlane.h file (Port we receive on: 49000, Port we receive on (legacy): 49000, and Port we send on (legacy): 49002) The Data Output>General Data Output>Network Config is fine with port 49001.

X-Plane 11.33r2
ArduPlane 3.9.8 xplane model
MAVProxy 1.8.6

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No servo direction in Auto mode with my boat

May 6, 2019, 9:08 am
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@Antoine_Niceron wrote:

Hi,

I have no servo functions in auto mode with my boat.
In manual mode, the boat works correctly, but when I engage the Auto mode, the motors runs but the servos don’t turn.

I configured the frame in : Boat. Do you think, Rover can be better in this case ? Because I have a motor and a servomotor like on a car…
I normally have configured all the most simply as possible, like on Ardupilot rover’s section.

Maybe someone has turned the auto mode in this configuration ? Or with a car ?

Many thanks in advance for your help ! It will be precious!

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X8 copter EKF (/gps) problems

May 6, 2019, 9:34 am
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@jhw84 wrote:

Hi, we are in the process of tuning a large (1.4m/T-MOTOR U10 II KV100/28x8.4 propellor) X8 Copter running stock Ardupilot v3.6.8, on a Pixhawk 2. It has not flown yet: We are getting some EKF failsafe warnings in our logs that make us a bit apprehensive. We did some tests where we throttled up the copter until it was barely still on the ground and found it to be tilting one side up to 10 degrees away from level at which point we throttled down to prevent a flip-over. In the attached log (19-05-06_13-55-26.bin) this event happens at the end (around 1833sec). We observe that some motors saturate at the lower limit (RCOUT.C2, for example at PWM value of 1220), but we don’t know if this is normal for a copter that is still in contact with the ground, we have not had the courage yet to fully lift off before consulting. Vibrations seem to be within tolerance as well. We verified that the copter is well balanced.

To rule out wiring/motor placement mistakes we have tested the response of all individual motors to throttle commands (pitch/roll) and when we lift and lean the drone, all motors seem to behave appropriately (meaning they turn slower/faster when they are supposed to), we have attached the log file for this test: 19-05-06_16-36-50.bin. Note that the Pixhawk is pointing to the left, so we have set AHRS_ORIENTATION=6 (Yaw270).

We are not sure what causes the numerous EKF failsafe events. In Mission Planner, when looking at the EKF status the following flags are shown in red: velocity_horiz, and pos_horiz_abs, the 5 bars show very low (almost 0) values, although we have occasionally seen the “Velocity” bar shooting up for a for a short time. We suspect it might be related to the GPS because we observe on some occasions a large number of Gps Speed errors, usually in the range 1-2 m/s. This behaviour is intermittent however and we don’t really understand what causes it.
The copter is equipped with a single Here+ GPS sensor, mounted on a mast of approximately 30cm, which required us to lengthen the cable; could this compromise the signal integrity? Compass and status LEDs seem to work fine though, do they share the same data bus? GPS was used in a large open field, and the system was “warmed up” for over 20 minutes but the error persisted. When looking at the EKF innovations in the log we get only values of 0 for [NKF4/NKF9].SV, is this normal or does it indicate a problem?

Log 19-05-06_13-55-26.bin: https://drive.google.com/open?id=1im-UGNkM42BDDp7K5RGT_1MFZZgRvY6K

19-05-06_16-36-50.bin (761.4 KB)

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For Holybro pixhawk 4. Which port should be connected to the digital air speed sensor 4525DO

May 6, 2019, 10:03 am
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@egunak95 wrote:

I2C Buses
• the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
• the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware)
• the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
• the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware)
ARSPD_BUS: Airspeed I2C bus
Note: This parameter is for advanced users
The bus number of the I2C bus to look for the sensor on
Values
Value Meaning
0 Bus0(internal)
1 Bus1(external)
2 Bus2(auxillary)

This is only possible on the port B for Holybro pixhawk 4 (Airspeed I2C bus = 2)

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Pixhawk Lite - with ChibbiOS FW Win10 driver error

May 6, 2019, 11:05 am
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@pauljatherton wrote:

Just dug out my old fx61 which has a Pixhawk Lite FC installed (fmuv2 I believe). This has the older 3.8.5 NuttX firmware installed and connected to MP no probs (running in windows 10 VM under VMWare Fusion on my Mac). Then I did the upgrade to current release ChibiOS version (3.9.8 I think). On connecting to windows 10 It seems to connect (chimes), disconnect then re-connect after plugging in the USB cable. Then I get a driver error and no com port shown in Device Manager. I managed to get it connected to my mac and installed the latest release NuttX version of arduplane using QGC, and this now connects fine to Mission planner in Windows (com port recognised as PX4 FMU (COM13)). So I installed ChibiOS version once again in MP, and again can’t connect - again no com port appears - so once again back to NuttX using QGroundControl on the Mac and I’m connected to MP again.

Anyone shed any light on this please?

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