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Simulating many vehicles in SITL

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@tfoote wrote:

I'm working on a project to simulate swarms of vehicles. Mixed copter and plane using SITL. I've found some related threads like this talking about a couple vehicles, but for this project I want to support N vehicles in simulation where N is greater than 20. I can scale across multiple machines to reach my goal number of vehicles, but would prefer to minimize the complexity by keeping the number of machines required as low as possible.

So does anyone know of another project along these lines? If so any pointers would be appreciated.

Does anyone know what the limiting factor might be for pushing N instances of ardupilot in SITL higher on a single computer?

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No reaction on Aux Out 1-6 for Gimbal or Pass Thru

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@lorbass wrote:

Origin Pixhawk, Taranis X9D, D16, RX X8R, Connected via SBUS.

Pixhawk configured for Gimbal Tilt as recommended in the Wiki (RC12 instead of RC9) as in the Pic.

In MP Windows "Tuning" the ch6in is moving according to the command on the TX.
But ch12out remains at Zero, and the servo does not move.
Tested with all Type of Gimbals in the selection of Gimbal configuration.

Another test with the Pass Thru Function shows the same issue. No Output on the Aux Out's.

BRD_PWM_COUNT is set to 4

Attached the Parameter File

No Aux Out.param (8.5 KB)

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GPS position error

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@sriram_mk wrote:

Hello
I am using Pixhawk AC3.3 and two ublox m8n gps (primary and secondary redundancy). I am currently facing two problems with gps.
1) latitude and longitude for both gps mismatch nearly 4 to 5 meters difference in position
2) whenever the SP in EKF4 spikes to 1 or more, gps switch from primary to secondary. But how it happens? when SP spikes to 1 or more??

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Best solution to ROS/Gazebo Simulator with SITL?

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@trancept wrote:

Hi,

I've a working simulation in Gazebo using ros default hector_gazebo. I'd like to switch to mavros/arducopter/sitl to prepare real world execution. My goal is to add a kinect to allow 3D perception.
But I'm quite confuse of which way to follow.
I had give a try to FlytSim and it was easy but part it don't work and they don't update it. It's not open source so we can't correct it.
I saw http://diydrones.com/profiles/blogs/705844:BlogPost:2151758 that seems really good but since then people continue to refer to the old wiki http://ardupilot.org/dev/docs/using-rosgazebo-simulator-with-sitl.html but it's an old code
I also saw this pull request : https://github.com/ArduPilot/ardupilot/pull/4837 in the main branch.
Can someone tell me the best way to begin in the right direction who will be supported by the community ?

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Sim_vehicle.py or MAVProxy command line questions

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@nickgb wrote:

I am new to ardupilot and have successfully got the SITL up and running. I am looking for some guidance on commands. I've googled, read the wiki and even looked (briefly) at the source on GitHub without finding answers.

I'm specifically looking for a way to reset the vehicle position having run a simulation. Either to move it back to the position it started from or to a different location either referencing one in locations.txt or using Lat/Lon? Right now I have to stop and restart the simulation which seems a little long winded.

More generally is there a list of commands that can be entered once sim_vehicle has started up (I assume these ar MAVProxy commands)? I've found "module" and "wp" but there must be a lot more.

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Quick question: CONFIG_HAL_BOARD

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@atx80 wrote:

Hi guys,

I have a quick question concerning the CONFIG_HAL_BOARD: I'm using a Pixhawk and have seen that all preprocessor defines (i.e #if CONFIG_HAL_BOARD == HAL_BOARD_PX4) are greyed out.

Shouldn't they be true - as I'm using a Pixhawk? Or is this some error of my IDE (Eclipse Juno)?

Do I have to do some corrections to the CONFIG_HAL_BOARD - define?

Thanks a lot and regards,
Armin

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RTK GPS Precision Navigation

Ch9 to Ch16 out not monitored in Status screen

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@mlebret wrote:

Hello,

Working on my gimbal settings, I cannot visualize Ch9out (or 10 to 14) in the Status Screen. (MP 1.3.41.3)

Ch9out is working (telemetry log), but Status Ch9out stay at 0.

On that card ch10, 11, 12in are configured and used. Ch10 to 12out status value is 0.

Thanks,

Marc

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Issue for manualControl

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@AinisSK wrote:

Hi guys. we use Copter: 3.4-rc5. We want to control the drone manually. We call manualControl method from ControlApi, but our drone doesn't move at all.
We have some questions:
1) Should we configure the drone before sending manual commands to it? We've found enableManualControl method, it returns true, but it doesn't help.
2) What is the meaning of errors in manualControl callback? It returns 'int' value, but for example we don't know what does 3 or 4 value mean. Can you list meaning of all possible errors.

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Landing gear depends on altitude

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@szaman89 wrote:

Hello,

Could someone tell me if there's any moves to get landing gear reactions depends on altitude?
This feature was supposed to be in AC 3.3 but there is not. Feature is great but I can't get any information if there's any progress in this case.

Best Regards,

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Problem in running SITL in linux

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@Mandeep_Singh wrote:

while setting up sitl in linux as given on ardupilot site

after running command : sim_vehicle.py --console --map --aircraft test

Failed to load module: No module named adsb. Use 'set moddebug 3' in the MAVProxy console to enable traceback
Loaded module console
Failed to load module: No module named map. Use 'set moddebug 3' in the MAVProxy console to enable traceback

Also the map is not coming

please help!!!!

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Building px4 with new mavlink v2.0 error

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@FutureStark wrote:

I beganto build from windows make firmware but notice at the end of build that there are 2 days ago mavlink v2.0 I downloaded and repaced with v1.0 but have error

include "include/mavlink/v2.0/ardupilotmega/mavlink.h"

I also added C:\Users\user\Documents\GitHub\ardupilot\modules\PX4Firmware\mavlink\include\mavlink\v2.0\ardupilotmega
and here becouse not sure C:\Users\user\Documents\GitHub\ardupilot\modules\mavlink\include\mavlink\v2.0
but get error that no such file or directory "include/mavlink/v2.0/ardupilotmega/mavlink.h"

Thank you for your advice

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Debug pixhawk with st-linkv2 and jtag jlink-8

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@FutureStark wrote:

I already read the most part of internet docs and manuals of debugging STM32 with eclipse using STLINK or JTAB GDB, or with Qt creator but no information if is it real to debug ardupilot code on real pixhawk with brakepoints etc.

I have seen black magic probe and find on pixhawk contact pads for jtag interface and or stlink interface, I have stm32f4discovery and debug it from eclipse very well, pixhawk have stm32f429 processor so How Can I debug it step by step with break points.
After build code in linux with make i have elf and .px4 files but what is next???

Help me pleeeeeeeeeeeeeese from me good bear :wink:)
thank you for your advice

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Test: Motor Balance = FAIL

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@timvand wrote:

Anyone have thoughts on what is the cause and solution to this error message from Pixhawk and Arducopter 3.3.3?

Test: Motor Balance = FAIL - Motor channel averages = [1638, 1543, 1564, 1615, 1593, 1587, 1149]
Average motor output = 1526
Difference between min and max motor averages = 489

This flight completed and will upload the bin file. After the flight completed, the Pixhawk will not arm, the HUD displays Disarmed, and not sure what the cause is and then how to resolve.

Any thoughts/ideas/input are greatly appreciated.

Cheers!
Link to .bin and .log
https://www.dropbox.com/s/3cnrwk7ek4ezdgo/161012_BMM_1.BIN_LOG.zip?dl=0

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Throttle and Pitch auto control issues

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@Glen wrote:

@MagicRuB & @tridge

Thanks for offering to help look into this issue. I've started this new thread as requested. Sorry about the extra posts in the release thread!

As mentioned I'm facing an issue with my aircraft (My Twin Dream) with pixhawk FC with Arduplane 3.7

It usually only occurs in cruise mode and it seems to depend what throttle position I have (or what demanded airspeed I have, since throttle nudge is on) If I change the throttle up and down enough I eventually can get a spot where the throttle and pitch respond as predicted but otherwise the throttle surges up and down very quickly:

7.5 minute mark: https://www.dropbox.com/s/4vs6tvkrr7h8gb1/8.BIN?dl=0
17.5 minute mark: https://www.dropbox.com/s/hw6y8csr3jmkib8/7.BIN?dl=0

It seems to be TECS related as it presents as an oscillation on the pitch and the throttle (height/speed control?).

I have tried re-flashing and re-tuning numerous times both manually and using auto tune as the basis. I have changed all hardware on the plane with the exception of the ESCs and the Pixhawk itself. Maybe I just have something in the tune wrong?

I have also tried adjusting throttle slew (various settings down to 10%) and TECS time constant (up to 7.0) with no difference in terms of the error.

Massive thanks for any help anyone can offer :smiley:

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Auto Analysis bug?

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@timvand wrote:

@Michael_Oborne

Getting a strange output with failing Test: Motor Balance failing and strange motor count. It's a DJI S900 Hexa frame, and MP 1.3.40 and 1.3.41 are counting 7 and eight motors with Motor Balance = Fail.

See link;

What gives?

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S1000 + Pixhawk min throttle issue?

Differential ailerons and complex wing setup

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@Greg_Wood wrote:

I am working on setting up a pixhawk in a plane with a rather complex wing setup. Basically I require flaperons on the front wing and elevons on the rear wing. I have modified the code to allow this. Now I would like to add differential to all aileron controls. The only thing I have turned up on this is a blog post from 2011 and one post here, neither one of which mentions flapersons/elevons.

Is there a way to set this up, or do I need to modify the code? I was thinking of adding a ELEVON_DIFF and FLAPERON_DIFF parameter that could be applied as part of the mixing?

Also, one question that still nags are me. What does the IO processor do? It seems like it is designed to handle failsafe conditions where the main processor may have locked up, but where does the output mixing happen? Say the main processor does crash, will I still be able to fly the plane and I have the pixhawk doing all the mixing?

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Using ArduTracker

Trigger camera via MAVROS

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@trancept wrote:

Hello,
I use a Pixhawk with Arducopter 3.3 and I want to trigger the camera with mavros.
I try with
rosservice call /mavros/cmd/trigger_control 1 0
but it answer :
success: False
result: 3
And nothing in mavros terminal:
The link is working as when I call :
rosrun mavros mavsafety arm
In terminal:
Request failed. Check mavros logs
And in mavros terminal:
[ERROR] [1476375492.460409636]: FCU: PreArm: inconsistent compasses

Is /mavros/cmd/trigger_control supposed to work with ArduCopter or only with PX4 firmware ?
How to trigger camera via mavros ? With RC_Override ?

Thanks for your help

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