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There is no change in Pitch PID after Autotune

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@kdrdgn07 wrote:

Hi. I have tried to make autotune in my plane and I have did almost 30 times pitch up and down and also roll right and left. I can see the change in roll after the tune in basic tuning page but nothing change in pitch. Also I can see the change in flight log page as a “PID/TUNE/Pitch Controller”. How can I see the changed PID value? Can you help me? You can see the basic tuning page after the AUTOTUNE and Before the AUTOTUNE. Also I’ve attached the LOG file here.

LOG: http://s4.dosya.tc/server6/pkjg7b/00000039.rar.html

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EKF2 vs EKF3 on fmuv2 Firmware Version

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@James_Megariotis wrote:

Is there any danger in running EKF3 on a pixhawk 1 flight controller running an fmuv2 firmware build? Will I have any sort of memory issues? I have been running EKF3 on a vehicle using the pixhawk cube running fmuv3 firmware, and I would like to run the same configuration on a vehicle using a pixhawk 1 with fmuv2 build.

Am I asking for trouble?

Any help or advice would be greatly appreciated.

Thanks,
James

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Mavlink Connection Nvidia Xavier

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@Antoine1995 wrote:

Heya,

We are currently working on a project of drone embedded image processing. We have succesfully connected a Pixhawk Cube 2.1 to our Nvidia Jetson Xavier by Serial port with Mavlink. Now, we need to get the telemetric data such as altitude and speed to program instruction that our Xavier will send depending on what it sees with its camera.
The problem is what should we use : MavProxy ? APSync ? ; and what’s the format of those data : Log file ? Do we get it from APSync ?

If someone has a clue on how we have to proceed, he’s welcomed to orients us.

Thank you very much !

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Advice needed Hexo+

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@rickyg32 wrote:

Advice needed
So I have come across an older Hexo+ drone. I love the looks of it so when I saw it I grabbed it. It was cheap as chips so I thought what the hell. In doing some research I have found that its running Arducopter…or a version of it. It’s a 32 bit flight controller but so far I have no idea of the firmware version. What I am wondering is, is it worth upgrading. I don’t see a USB port on it but I know thats due to it not having one plugged in. It’s an easy add.

So do I flash it with the latest and greatest or leave it.

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Custom message via uart in SITL

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@nghiajenius wrote:

Dear Ardupilot developers,

From the Ardupilot SITL Wiki:

  • To use real serial device with SITL I can use this command:
    sim_vehicle.py -A "--uartB=uart:/dev/ttyUSB0" --console --map
  • To connect console output to UDP, I can add:
    --out=udp:<ip_target>:14550

My question is, how can I config to connect uartB to a UDP server so that I can send/receive custom message in uartB and use console/uartA for mavlink?

I look forward to your answer. Thank you very much.
Nghia.

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Multiple devices on the i2c interface

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@Spitfire wrote:

It seems most flight controllers have just one i2c interface. In my previous builds I’ve used it for an external compass but if I want to add an i2c airspeed sensor and rangefinder do I simply connect all the sda and sdl connections together ?

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X8 flip-over during take-off

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@jhw84 wrote:

Hi,
While trying to take off with a large X8 Copter (1.4m/T-MOTOR U10 II KV100/28x8.4 propellor/Pixhawk 2 running ArduCopter v3.6.8 (ChibiOS)) we had a flip-over which we don’t understand. Attached is the log, we cannot really find a clear cause for the crash, hopefully you can help us. Motor wiring and directions have been checked thoroughly (the drone has flown correctly before), as well as the propellor orientations. The flight mode was STABILIZE. When the drone is about to take off the pilot notices the right leg coming off the ground (thus, a strong roll motion to the left), and cuts the throttle immediately. RCIN.Ch3 (throttle) is cut when roll = -16deg, we tested manually and the tipping point for the drone in the roll direction is 37 degrees. So we’d expect the drone would fall back to its feet. However, it kept rolling to the left until it finally flipped over on its side. According to the logs, no pilot input was present for roll and pitch directions. Two motors on the right side (RCOU.C[1,7]) do seem to have a non-idle PWM value (although not very high), and as far as we can see these motors are the only things that physically could have toppled the drone like this. Are we missing something here? We don’t really understand why these motors were not all at the minimum PWM (around 1200), but suspect the drone may have been trying to yaw. It is nevertheless surprising that this was powerful enough to flip over the drone.

The log: https://drive.google.com/open?id=1cQ6VyiBUCsuD23i3rzEDTbJ1sWoCJdGY

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Analogue RSSI on ADC port on a Cube

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@yak-54 wrote:

hi all sorry to ask here after some days i am trying to inject analogue rssi into ADC on a Cube running ArduPlane V3.9.8 is there an issue with ArduPlane ?

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Matek F405-STD STM32F405

Predefine Waypoints

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@Mirko_Zhou wrote:

Dear community,

I’m trying to plan the a series of way points with same spacing along a line so that the rover can stop every 2m to take the measurement, but I couldn’t find any options in Mission Planner that can make it happen.
So is there any way to set waypoints with same spacing along a line and spline ?
Thank you for your help.

Mirko

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LiDAR drone remote sensing

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@vag_01 wrote:

From the early days back in 2008, AltiGator has been building UAVs integrating promptly the Ardupilot technology and faithfully followed its development all along the years.

Today Ardupilot empowers the flagship of our fleet, the OnyxStar XENA which is also the flying platform for our LiDAR survey system called OnyxScan.

Thanks to the Cube and Ardupilot, our flying LiDAR system is perfectly integrated to the drone.

Completely automated, the OnyxScan LiDAR operates autonomously from take-off to landing, leaving surveyors free to focus on tasks that require their expertise.

The OnyxScan aerial LiDAR drone is the ultimate solution for topographical and specific low-altitude surveys for any type of mission requiring performance, precision and speed of execution. XENA is a precise, reliable and efficient UAV taking benefit from all of the operational and safety features implemented in Ardupilot.

Light Detection and Ranging (LiDAR) is a surveying technology allowing to generate accurate Digital Terrain Models for applications in multiple industries.

Used in geomatics and geodesy, archaeology, mining and quarrying monitoring, forestry management, environmental survey, and other areas, this turnkey aerial LiDAR is designed to be quickly deployed on the field. Built to operate even in high demanding conditions the system needs only a few minutes to be operational in cold starts, while hot restarts are instantaneous. The time required to start collecting data is therefore dramatically short.

The solution has multiple telemetry links providing useful data from the drone and the LiDAR. OnyxScan is foreseen with a wireless connection for ground and post-flight operations. Designed for off-road missions, our solution is extremely compact thanks to a take-off weight of 5.6 Kg only, being able to fly up to 25 minutes.

Between other remote sensing projects, OnyxScan is used for coastal erosion and sand movement monitoring, as illustrated below on Normandy beaches:

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Flashing and debugging ardupilot bootloader

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@amitmanish wrote:

Hi,
I am trying to flash bootloader and debug it. For that i am using print statement on uart(with cout function of bootloader).
Right now i am not sure if the bootloader is upgrading or not. How can i debug bootloader to see if its my version or not.

Thanks

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Question about Auto Mission continue from last point

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@MerkaTony wrote:

Hello Mindhive,

I have a question on which i have not been able to find any information inside this forum, either because there isnt any or simply because i am searching wrong.
I would like to know if there is a way to program a mission with duration greater than the UAV battery capabilities and simply have BFS trigger RTL, return to change Battery and continue from the place it left off.
I would appreciate if anyone knows if this is possible.

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ILS Approach for Arducopter

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@flightzoomer wrote:


The recently released Version 3.2 of my GCS FlightZoomer offers an automatic approach system, that is similar to the ILS for manned aviation.

For plane it was working since last year but since copters can’t just slip down the glideslope and then touch down with a lot of forward speed, the implemented procedure had to be changed as follows for copter:

❶ At first, Copters will stay in GUIDED mode and will descend on the glideslope towards the runway.
❷ The moment, when an altitude of 7m above ground will be reached, the descend will stop and the copter will continue in level flight until the begin of the runway is reached (runways are configured in the navigation database of the app. Properties are: position, elevation, length, primary direction, glideslope angle).
❸ At that point, forward speed will be cut to zero, and the FlightZoomer auto flight controller will put the copter automatically in LAND mode.
❹ The ArduCopter LAND mode will then simply perform a straight down descend.

As you can see in the examples from the video (towards the end), this works nicely.

Advantages of this solution:

  • As any number of runways and glideslopes can be defined upfront in the FlightZoomer navigation database, the airspace can be structured to support flexible flight operations in changing conditions (different parameter for plane vs copter, have runways for different wind directions).
  • The final descend can start in a controlled manner at a rather high altitude. The ArduCopter LAND mode is only needed for the last few Meters.
  • Solution picks up terms and procedures of manned aviation.
  • No physical installation needed for the localizer and the glideslope beam. These are defined as “virtual” data properties in the navigation database, and the FlightZoomer autopilot (feeding ArduCopter in GUIDED mode) simply uses the received position data from the vehicle to calculate deviations and corrections.

FlightZoomer is a pilot centric GCS, which is available for free in the Windows 10 store.

The updated user manual for ILS approaches is here:
https://flightzoomer.com/manual/hfw_automatic-landings-_-ils-approaches.html

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Vision_position_estimate didn't show in QGC

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@IrisGreen wrote:

Hi, everyone. I’m using a stereo camera with IMU to do some vision works.
First, I use Ubuntu 16.04, ROS Kinetic
Following some great works in the forum I set some parameters as below:
AHRS_EKF_TYPE 2
EKF2_ENABLE 1
EKF3_ENABLE 0
GPS_TYPE 0
EK2_GPS_TYPE 3
COMPASS_USE 0
VISO_TYPE 0
timesync_rate: 0.0
and ensure the vision* is whitelisted in the apm_pluginlists.yaml since the vision_pose_estimate was loaded and initialized after I launched apm.launch.
In computer A, I did some SLAM work and remapped the vision estimate topic to /mavros/vision_pose/pose_cov
In computer B, terminal 1:
sim_vehicle.py --cosole --map
computer B, terminal 2:
roslaunch apm.launch
and there were some warnings:


to ensure the mavros has recieved the vision estimation, in terminal 3:
rostopic echo /mavros/vision_pose/pose_cov
and it showed as follow:

Then I tried to use QGC ANALYSE to see the VISION_POSITION_ESTIMATE, but couldn’t find it.
I also tried to arm the copter but nothing changed.
I don’t know what I did wrong or what important steps I missed

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All data logs with 01.01.1980 date

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@hans123 wrote:

Hi, out of nowhere after downloaded some of the data logs, the new logs are now appearing with date 01.01.1980… Clock in the HUD display shows right time… What could cause this?

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Precise sensing of camera triggering for RTK geotagging

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@Marco_T_L_M wrote:

Hey, there!
I´ve been struggling to use a Samsung Nx-mini with RTK.
It´s ~300ms delay to take a photo makes the RTK useless.
This camera doesn’t have a conventional hotshoe or other type of feedback which could be used to trigger the RTK camera input pin.

To solve this, it seems to me that identifying the moment when the camera starts writing on the sd card is the way to go.
Not the easiest solution, but the most universal and precise for the smaller effort.

So from what I gathered SD cards use a Serial Peripheral Interface. (SPI) (https://en.wikipedia.org/wiki/Serial_Peripheral_Interface#Mode_Numbers)

I don’t know how is the behavior of the communication, but I’m hoping that the Master Output Slave Input (MOSI) pin only sees activity when a picture is taken, and that the delay is smaller than 1ms after the picture is taken. Otherwise, identifying when it is really writing an image will get quite a bit harder.

Considering this, it might be possible to use interrupt routines to a pin connected to the sd card MOSI, identifying the write event and triggering the RTK. I’m looking for the simplest solution, a way to detect writing activity without disturbing the SD Card communication.

Any suggestions on the circuit between the sd card and microcontroller?
Any obvious problems I’m not seeing?

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Mecanum wheeled rover

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@count74 wrote:

Hi,

I just took my mecanum rover for its first outside drive.

Axles are taken from this:

https://amewi.com/de/drift-climbing-king

Controller is a Mateksys F405-STD with a Mateksys 3-6s (9-27V) PDB. The rover runs on 2s, but the PDB is working without a problem.
A Raspi W zero is used as a companion computer, running mavlink-router and motion, but it is too slow to be useful. I will replace it with a RPi 3B+ soon.

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Skidsteer left/right motor trim? (Pulls left)

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@mr2td wrote:

Hello,
I have a Rover (mower) with individual left/right motors operating in skid steer mode.
Everything is working quite well other than I’ve noticed the machine pulls a bit to the left at full throttle.
Is there an easy way to adjust the trim?
The only way I could think of is to reduce the SERVO_MAX for the right throttle.

Thanks!
Tony

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Problem flashing to OmnibusF4pro

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@seven4 wrote:

I’m having trouble trying to flash firmware to my OmnibusF4pro. I downloaded the current Ardu hex, am using the current Betaflight configurator, putting the F4 in DFU, but when i select “load from local” the firmware doesn’t load in the firmware flasher. i have even tired to flash it on the iNav configurator and get the same results. any help would be greatly appreciated.

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