Quantcast
Channel: ArduPilot Discourse - Latest topics
Viewing all 46436 articles
Browse latest View live
↧

Hardware Security of Pixhawk Cube

August 14, 2019, 3:05 am
$
0
0

@Vishal_Pal wrote:

Hi,

I am working on my master’s project of ensuring the hardware security of the Flight Controller. My drone uses Pixhawk Cube as flight controller (Ardupilot as autopilot) with Raspberry Pi as companion computer. I am planning to use Infinion make Trusted Platform Modules (TPM) to ensure hardware integrity of both Pixhawk Cube and Raspberry Pi.

As far as my understanding is concerned, whenever TPM modules are used in an IOT environment for hardware security, they are used as root of trust. Here since we have two hardware (Pixhawk and Raspberry Pi), this whole system of security gets complicated.

Although, I can implement the TPM + Raspberry Pi system, I have no idea how to begin with interfacing a TPM module to Pixhawk. It will also involve changes in ardupilot firmware. Considering SPI/I2C interface of TPM module, how can I start building this system?

Is there any other way by which I can ensure hardware integrity of the Pixhawk Cube? How can I ensure, nobody messes up with my Pixhawk cube and its firmware incase drone gets into the wrong hands?

Posts: 1

Participants: 1

Read full topic

↧
Search

Skydroid-T12 combination of Data transmission, Picture Transmission and Remote Control

August 14, 2019, 3:06 am
$
0
0

@Zhang_Molly wrote:

Skydroid-T12 ! It’s Combination of Date Transmission, Picture Transmission and Remote control.

  • 1 Real dual redundant, double antenna and models design.
  • 2 12 channels, supporting fixed wing, multiple rotors, intelligent robots and underwater drone.
  • 3 Mobile APP XAircraft configuration, adopting all one key adjust parameter.
  • 4 Bluetooth USB double connections, matching powerful ground station APP.

Do you like it?

Posts: 1

Participants: 1

Read full topic

↧
↧

Trex 600 stretched (700) Pixhawk 3DR tuning

August 14, 2019, 3:15 am
$
0
0

@flyingdragon wrote:

Hi everyone,
I started posting questions on different thread, and its look like is better to open my own thread just so I don’t take other people threads!

I started the build and now I am between the PID tuning and the next step after that to reach my goal to the Auto flight mission planning :slight_smile:

I was reading and watching different videos regard the PID and what they do and how they work!

so I was able to tune my Heli let say ( beginner) not a pro,… as I was increasing the values manually between P and D and one time I increase the PITCH P and I had to decrease the PITCH D or increase the PITCH D and decrease the PITCH P and so on till I got really nice scale flying heli!

so I uploaded the Logs for today as of AUG-14-2019

and hopefully Mr. Bill or anybody can tell me if I am good in the VIB range! after changing the dampers it was like from dark to daylight!!

solved all my pitch shaking problems !

I see the Pitch Des vs Pitch graph need tweaking to get the both same ! so I think I will increase the ATC_RAT_ PITCH_D and lower ACT_RAT_PITCH P … or just increase or decrease the VFF and see if they will match perfectly ?

please any idea if my Y VIB still bad? its the only one around 15
X and Z are under 10

Thank you so much
Ozzy

parameters PID tuning AUG-14-2019.param (14.0 KB)

Posts: 1

Participants: 1

Read full topic

↧

Printable gimbal offered - Sony A5000 +

August 14, 2019, 3:30 am
↧

Flip on take off after Chibios latest stable 3.6RC10 upgrade

August 14, 2019, 5:28 am
$
0
0

@Hugues wrote:

Hello,

I upgraded my octoquad (X8 config, 15" props, Pixhawk1, external GPS+compass) from arducopter/Nutx version 3.3 to the latest Chibios 3.6.
Nothing else changed or was modified.
In the Nutx 3.3 version, the ship fly wonderfully in all modes. Never had an issue.

After upgrading to Chibios 3.6 (latest stable release from mission planner), I redid the usual : compass, accel, radio, battery monitoring calibration (incl compassmot).
I did not recalibrate the ESCs as it should not be necessary (or am I wrong ?)

Then at first manually controlled take off (in stabilize mode), the drone flipped (rolled to the right) upside down (Breaking all of the props of course).
I looked at the log but could not find any issue or explanations. I rechecked after the crash the way the props were mounted to verify if any props was inverted. All props were correctly installed and no motor or mounts were defective.
So i really do not know what happened here and I would like the help of the Community to analyze what happened.
Attached the log of the incident
Thanks
2019-08-14 11-16-58.bin (263.1 KB)

Posts: 1

Participants: 1

Read full topic

↧
↧

Latest long-endurance hydrogen fuel cell drone

August 14, 2019, 6:18 am
$
0
0

@Droneup wrote:

Any one intersted in Environment-friendly hydrogen drone？

notuzi%20H%20100
notuzi H 100.jpg1066×566 95 KB

Model: Four-rotor

Wheelbase: 1060mm

Rack weight: 3.95kg

No-load weight: 7.25kg

Maximum load: 1kg

Maximum takeoff weight: 8.25kg

No-load maximum life time: 110min

Maximum load life time: 80min

Power: 800W hydrogen fuel metal stack + 1050mAh lithium battery

Maximum cruising speed: 10m/s

Maximum climb speed: 2m/s

Wind resistance level: Level 5

Any comment or features we can discuss here.

Posts: 1

Participants: 1

Read full topic

↧

I need advise Failsafe rule for GCS System using LTE

August 14, 2019, 6:40 am
$
0
0

@BlueMS wrote:

Hi, There.

I made and wil test My new GCS Hardware System.
This GCS is using LTE.
So, I need your advise FS.

FS_THR_ENABLE values: http://ardupilot.org/copter/docs/parameters.html#fs-thr-enable-throttle-failsafe-enable
FS_GCS_ENABLE values: http://ardupilot.org/copter/docs/parameters.html#fs-gcs-enable-ground-station-failsafe-enable

Tested situation # 0:
Receiver : No Pulse
FS_THR_ENABLE : 0
FS_GCS_ENABLE : 2

I tested # 0, copter was crashed perfectly.
Because GCS is connected, I thought the RC’s Failsafe would be no problem no work.
That’s my mistake.
If auto mode or no auto mode, copter disarmed at 330 feet with no using Emergency Stop Motors.
The only benefit is that I know now.

Example situation # 1:
Receiver : No Pulse
FS_THR_ENABLE : 2
FS_GCS_ENABLE : 2

In case # 1, if it is not in auto mode when failsafe occurs, will it change to RTL immediately?
If so, what happens during manual control?
Which is priority higher, A or B?

Example situation # 2:
Receiver : hold all channels at their last known position
FS_THR_ENABLE : 0
FS_GCS_ENABLE : 2

In case # 2, what happens if a copterleaves the remote RF controller’s signal?
As with the # 1 situation, I think the ppm in the receiver will be given priority.
If so, what is the priority when manually operating via LTE?

Example situation # 3:
Receiver : change mode auto and all channel hold center.
FS_THR_ENABLE : 0
FS_GCS_ENABLE : 2

In case # 3, What happens if a copter leaves the remote controller’s signal without a saved mission?
holding center ppm or going down?

I am considering three things:

  1. For manual control without GCS.
  2. If the copter has a built-in plan and is flying farther than the remote controller signal range through the GCS via LTE.
  3. When manually flying away from the remote controller signal range through the GCS via LTE.

I’m just a baby about GCS and copter.
So I really need your help.

Posts: 1

Participants: 1

Read full topic

↧

E-Flite mini-Convergence with ArduPilot

August 14, 2019, 8:32 am
$
0
0

@kd0aij wrote:

The E-Flite Mini Convergence is a smaller version of the original Convergence VTOL. It came out about a year ago: RCG thread

Recently the PNP version has been on sale for only $80, so I bought one to serve as an ArduPilot tri-tiltrotor testbed.

The stock flight controller (FC) is nicely integrated: it has a 5.25V regulator (EUP3484) rated at 3A which supplies the servo power rail and the 3.3V regulator for the MCU. The ESCs have only 3 wires; all motor current flows through the ESC power rails on the FC. ESC signal output is PWM at 400Hz, servo signals are 71Hz PWM. The FC PCB measures 32x46 mm and is hard mounted to the plastic frame which anchors the rear motor mount. Servos are Spektrum A360 3.7g (elevons) and A350 5g (tilt). The recommended battery is a 3S 800 mah 30C LiPo.
stock_FC
stock_esc_rail

I chose to use the mRo X2.1 to replace the stock FC, since it is almost the same size (31x51 mm with vertical pins). I enlarged the opening in the foam to allow mounting the X2.1 with servo tape for vibration isolation, and cut a slot in the fuselage to provide access to the USB port and microSD card.
x21_stock

Since the X2.1 does not have an integrated BEC, I also installed an mRo ACSP7 power module and a 5V/2A BEC in the space provided for the stock RC receiver. An FrSky XSR receiver and the buzzer are mounted on the tail, and the Matek SAM-M8Q GPS is installed inside the canopy.

The X2.1, buzzer, ACSP7, GPS and cables weigh 31g and the stock FC weighs only 12g: weight will be increased by about 20g over stock.
new_weight

The mini Convergence is flying well at a weight of about 300g with a 3S/850mah battery in both VTOL and FW modes.
flying_weight

Vibration levels are about double those of the full size Convergence, but still acceptable:
vibration_flight
fft_flight

Forward and back transitions looked pretty good, with cruise speed in FW mode of about 20 m/sec and current draw less than half that for hovering. Hover is at about 43% throttle.
transitions

Posts: 1

Participants: 1

Read full topic

↧
Search

What Parameter To Set To Avoid Crash During GPS Glitch Problem or Bad GPS? Please Help

August 14, 2019, 11:42 am
$
0
0

@ton999 wrote:

As we know that some times during flying it may happen GPS glitch or bad Gps. So my question is how to anticipate this GPS issue?? What parameter to set to avoid crash if this problem occur ? What happen if this problem occur during Auto mission. To my knowledge we can set Quadplane to change mode to QHOVER (or Altitude Hold for Copter). But which parameters that control this Gps issue?? What is the best procedure to handle this issue? Thank you.

Posts: 1

Participants: 1

Read full topic

↧
↧

Compass #2 no detected

August 14, 2019, 11:55 am
$
0
0

@XJ220 wrote:

Hi everyone,

i want to use 2 compasses for my drone (Dropix + “NEO-M8N GPS + LIS3MDL Magnetometer”). I plug the GPS on the Dropix port. In the “full parameter list” on Mission Planner, there is a “0” on “COMPASS_DEV_ID2”. I used an old and an new GPS but the problem go on.
How can i do o solve this please?

Posts: 2

Participants: 2

Read full topic

↧

Gyroscope readings unit

August 14, 2019, 12:36 pm
$
0
0

@faresa2 wrote:

Hello all. I was trying to make sense of the gyroscope raw readings in hover. Since roll and pitch are zero (or extremely close to it), one can assume that the rate of change of yaw is approximately the same as the gyroscope reading G_z obtained under IMU (all three IMU readings are similar in this case) in the logs. Upon integrating G_z over a very short period of time (<2 seconds), I obtain a yaw attitude that is way less than the actual yaw. I’m assuming G_z has units of deg/secs as the log guide says. What would explain this discrepancy? How does ardupilot determine yaw rate to control it and try to drive it down to zero in flight modes like stabilize?

Posts: 1

Participants: 1

Read full topic

↧

Rx rssi no longer working?

August 14, 2019, 3:09 pm
$
0
0

@jace26 wrote:

I just made the jump from plane 3.8.5 to 3.9.9 and noticed that my rxrssi user-item on the MP HUD no longer works, its just zero’d. No change to my hardware setup or parameters. Using an x8r connected by sbus to the RC input on a pixhawk cube and have the rssi_type set to 3, RSSI_ANA_PIN=0, which worked before.

Posts: 1

Participants: 1

Read full topic

↧

Open.HD Video Streaming

August 14, 2019, 8:49 pm
$
0
0

@Airpig wrote:

Has anyone else tried Open.HD for video stream?
Open.HD Wiki

I tried it and out of the box it worked with a Pi 3B+ as RX on the ground and HDMI to Display.
Still trying to get it to work with QGC/Mission Planner/GStreamer but overall i’m still impressed. Especially with Android app that lets you edit config text file via wifi hotspot rather than pulling out the micro SD card.

Looking to see if anyone has tried it and had any success.

Posts: 1

Participants: 1

Read full topic

↧
↧

Pixhawk flight control can use two m8p-gps for GPS direction determination? Ignore the interference of compass?

August 14, 2019, 10:57 pm
$
0
0

@tadiwuh wrote:

The interference from magnetic compass has always been a headache. It causes a lot of dangerous accidents. Now pixhawk supports two GPS inputs. Can we configure two GPSs correctly to replace the direction indication of the compass? Do you have this function now? If not later (3.7), can you add this function?
I think it should be a cool thing to connect two m8p-0 to flight control and configure their positions correctly, just like configuring INS_POS1_X (Y, Z) and GPS_POS1_X (Y, Z), and then use a ground m8p-2, so that we can get rid of the troubles caused by the compass for a long time!
I don’t know much about flight control algorithms, but I think it’s a good idea. I don’t know if you can make this assumption come true.
Thank you all.

Posts: 1

Participants: 1

Read full topic

↧

Pixhawk 2.4.8 not entering into esc calibration mode

August 14, 2019, 11:29 pm
$
0
0

@hkk26 wrote:

Unable to find the esc calibration setting in APM planner 2.0.26 version.
And i’m trying to calibrate pixhack 2.4.8 using this method

It seems, Pixhawk not entering into esc calibration mode. there are no motor detection beep sound after

  1. connecting
  2. disconnecting
  3. connecting to power source

All esc are working find when i try to connect them RC receiver

Posts: 1

Participants: 1

Read full topic

↧
Search

Software in the loop (SITL)

August 15, 2019, 12:37 am
$
0
0

@thomaschen61 wrote:

hello, can someone enlighten me what is the difference between Dronekit-SITL and the sim_vehicle.py ??? they both seem to do the same, when should one choose one or another ? thanks

Posts: 2

Participants: 2

Read full topic

↧

Mavproxy necessary

August 15, 2019, 12:40 am
$
0
0

@thomaschen61 wrote:

i saw example that dronekit ===> mavproxy ===> vehicle
is mavproxy really necessary, can dronekit (running on companion computer) talk directly over mavlink to the vehicle (copter) without mavproxy ?

Posts: 2

Participants: 2

Read full topic

↧
↧

Hydrogen Cylinder for Hydrogen Fuel Cell UAV

August 15, 2019, 2:44 am
$
0
0

@Droneup wrote:

You may have question where to find the hydrogen cylinder, when you want change it or want more spares, here we are

1565861986(1)
1565861986(1).png913×319 165 KB

The cylinder is wrapped by carbon fiber from Toray with high performance and stability. Then it is simulated to conform design with aircraft. It is based on thin-walled aluminum alloy liner molding technology and reduction technology from Germany LEIFELD backside grinding which is accurately controlled by CNC procedure.

SPECIFICATIONS
Working Pressure: 35MPa
Working Temperature: -40—+85℃
Burst Pressure: 70MPa
Fatigue Life: ≥500 times

Pressure Regulator for Hydrogen Fuel Cell UAV
The regulator is based on highly reliable aerospace technology. It is lightweight, easy to install , tightly sealed,
and with long life service as well as stable output pressure, greatly enhancing UAV flight time.

SPECIFICATIONS
Rated Input Pressure: 400bar
Minimum Input Pressure: 5bar
Output Pressure: 40-70kpa
Medium: Hydrogen
Weight: ＜200g
Package Size: 787747mm
Service Life: ＞10000 times

Posts: 3

Participants: 2

Read full topic

↧

Rc_input/RC_output transfer function

August 15, 2019, 4:14 am
$
0
0

@Benykoz wrote:

Hey guys, I’m implementing an indoor flight controller (no GPS, position estimated using a tether connected to the drone) on a Navio2 (Cotper 3.6.5) and ROS.

I’m using mavros and ROS matlab toolbox to control the drone - send RCOVERRIDE commands using udp (wifi) and recieve and log RCIN and RCOUT signals.
I realize using setpoint_raw topic is better for my purpose, but I’m having trouble with publishing to this topic in GUIDED_NOGPS mode, might be a navio2 issue.

Anyway, The controller tries to make the drone hover in place but I encounter several issues.

I have attached the plots of the 3 topics sent using ROS - the X coordinates are time in 50ms intervals, which as i understood, is mavlinks max refresh rate (20Hz), is this sampling time sufficient to control simple drone maneuvers ?

2 other Issues I can’t wrap my head around - the delay from the moment I publish the RCoverride command, to the moment I sense changes in rc_out signals - which is roughly 0.15-0.2 seconds from RCoverride to RCIN and another 0.2 seconds from RCIN to RCOUT. is this delay normal ? I would expect the time from RCIN to RCOUT to be neglectable…

BTW, other pinging tests done provided the same results.

another issue is the divergence of the RCOUT signals as time passes (due to noise?) - do arducopter changes the way RCIN affect RCOUT during flight ? some kind of RC trims done mid flight ? can these be removed ?

I hope this is not a ROS issue, so any input would be amazing,
Thank you very much for this great community.

RC_signals
RC_signals.PNG1840×889 61.2 KB

Posts: 1

Participants: 1

Read full topic

↧

Strange climbrate limit in Guided mode (~5 m/s)

August 15, 2019, 4:30 am
$
0
0

@MikeStros wrote:

Hello everyone.
I’m using stable flying quadcopter with pixhawk & arducopter version 3.4, flying waypoints in Guided mode, sending waypoint coordinates from external controller.

When I’m trying to make fast 10 m/s ascend and descend (WPNAV_SPEED_DN=1000 & WPNAV_SPEED_UP=1000), it seems i’m getting some strange limits at about 5 m/s climbrate, both up and down. Sometimes I can see descend speed at about 6-7 m/s, but it’s never reaches expected 10 m/s.
But if I switch to LAND mode, I’m always getting stable -10 m/s of climbrate.

Here is screenshot from log viewer, you can see Guided ascends/descends and LAND mode descends:

climbrate_limit_problem
climbrate_limit_problem.jpg1000×378 69 KB

What is the problem? May be I need to change some code to remove such limit? I was trying to find some bottleneck in arducopter code, but didn’t find anything :frowning:

Thank you!

Posts: 1

Participants: 1

Read full topic

↧
Viewing all 46436 articles
Browse latest View live
Search
<script src="https://jsc.adskeeper.com/r/s/rssing.com.1596347.js" async> </script>