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Mission Planner and override

November 3, 2019, 2:34 pm
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@Corrado_Steri wrote:

I am using mission planner on an aircraft and i use a custom app on the same aircraft. MP and the app are on the groundstation pc.
The aircraft sends mavlink trough mavproxy to two different ports 14550 and 14551 on the pc, mp connects to 14550 and my python app to 14551.
On mission planner i use joystick, so it uses rc overrides. My app needs to override channel 7 but looks like MP doesn’t allow it. Whenever i try to override ch7 with my app, MP brings it back to zero, even if on the joystick in mission planner i set none to channel 7. I send my override every 1 second but MP brings it back immediately.
Is there a way to accomplish this without MP taking control?

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Compass_typemask

November 3, 2019, 3:08 pm
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@yak-54 wrote:

Why it set to COMPASS_TYPEMASK,32 ?
i am going to disable 1 LSM303D and 2 AK8963 i am going to use the 2 on UAVCAN ( here2 gps )

are these bit meaning base-10 numbers
so i add 1 and 2 = bitmask of 3 ?

Bit Meaning
0 HMC5883
1 LSM303D
2 AK8963
3 BMM150
4 LSM9DS1
5 LIS3MDL
6 AK09916
7 IST8310
8 ICM20948
9 MMC3416
11 UAVCAN
12 QMC5883
14 MAG3110
15 IST8308

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Multiple obstacle avoidance sensors

November 3, 2019, 3:11 pm
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@Anelito wrote:

Hi everyone,
I’m building a mid-sized rover and I’d like to add front and rear basic obstacle avoidance.
I have a waterproof 40kHz ultrasonic sensor and two VL50LX0 time of flight sensors (being a rough terrain rover, I can only use waterproof or light-based devices).
The rover mounts a Pixhawk Cube and a Raspberry Pi 3 companion computer.

Can I interface all of them to the PixHawk or do I need to use the companion computer?
Having two VL50LX0 on the front and one ultrasonic sonar on the rear of the rover: can ArduPilot distinguish between forward-mounted and rear-mounted sensors and react accordingly?

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Compass issues - the dreaded toilet bowl!

November 3, 2019, 4:51 pm
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@VUAS wrote:

Hi all I have a bit of a head scratcher (at least to me).

We operate a large octocopter that we have been running with Cube black and the spektreworks carrier board with a Here GPS for sometime and haven’t had any issues with the compass up to this point. we recently updated to Copter 3.6.10 and now we have a weird intermittent compass issue that causes the dreaded toilet bowl.
We calibrated the Here compass (both 1 and 2) both passed no issues and and flew number of successful flights we then had a toilet bowl which lead to a crash.
We fixed the damage and it flew fine a few time then we had the problem resurface. However it is now more persistent.
To start with I turned off the internal compass (number 2) and still the issue persisted. I then turned off compass 1 and while mission planner is showing the error “bad compass health” the aircraft flys fine once a 3d fix is achieved.
So I started a process of elimination initially suspecting that it was the Here unit that was faulty (it was one of the first i ever bought and it has had a hard life) so I put a Here2 on and ran a compass cal (which was successful). Here is the kicker I got the same behavior including the deactivation of compass 1.
I have uploaded logs while running the Here 1 and the Here 2 to a google drive folder and the link can be found at the bottom of the post.
Any input would be great as this one has me stumped!
https://drive.google.com/open?id=1HDShFcJ9DIizL3PvcVVM5ZdC3MWl89gv

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System periodically gets delayed commands

November 3, 2019, 10:04 pm
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@jimovonz wrote:

We have a UGV set up with a Pixhawk Cube Black running Rover 4.0 (Chibios) connected to a companion computer via USB serial (Ubuntu 18.04) at 961400bps. The companion computer runs ROS/mavros. In ‘manual’ mode there is a ROS node that processes output from a joystick (over CAN bus) and publishes to the /mavros/rc/override topic. This has been working just fine but all of a sudden we have encountered episodes where the commands from the joystick are delayed by up to 10 seconds. We are confident that the delay is not in the ROS system but are lacking tools to diagnose the mavlink mavproxy<->ardurover connection. Something is delaying the processing of these commands and they are getting buffered somewhere and we would like to know the cause. Using tcpdump we can see that the delay is after mavros transmits to mavproxy. Has anyone else encountered this? Can anyone suggest tools that could be used to see what is happening?

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Copter-4.0.0-rc2 available for beta testing!

November 3, 2019, 11:11 pm
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@rmackay9 wrote:

Copter-4.0.0-rc2 has just been released for beta testing and should appear in the ground stations’ “Beta Firmwares” link within the next couple of hours. The changes vs -rc1 are in the ReleaseNotes and also copied below.

  1. Failsafe changes:
    a) GCS failsafe triggers when telemetry connection is lost (previously only triggered when using joystick)
    b) FS_OPTION parameter allows continue-in-auto and continue-in-pilot-modes for RC/Radio and GCS failsafe
  2. Dynamic Notch Filter supports filter range based on BLHeli ESC feedback
  3. Improved protection against high roll/pitch gains affecting altitude control
  4. Bug Fixes:
    a) Altitude control param conversion fix (PSC_ACCZ_FILT converted to PSC_ACCZ_FLTE)
    b) BLHeli fix to RPM calcs and telemetry (aka 0x8000 error)
    c) ChibiOS SPI timeout fix (non-critical)
    d) Fence upload is less strict about altitude types (fences don’t have altitudes)
    e) Motor loss detection bug fix (would sometimes think the wrong motor had failed)
    f) Pre-arm message fix to reports AHRS/EKF issue (was blank)
    g) Sparky2 autopilot firmware available
    h) Startup message “AK09916: Unable to get bus semaphore” removed (was not an error)
    i) Yaw control fix for fast descent and after large attitude disturbances

Thanks very much to those beta testers of -rc1 that provided the detailed feedback we needed to get to the bottom of some of the issues above. Also thanks very much to the other developers who pitched in to help clear up these issues quickly and also sort out the wiki.

We’ve still got some known issues to investigate and fix so there will be an -rc3 but things seem to be going well, Thanks!

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Auto Mode Line Turns

November 4, 2019, 4:39 am
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@robpenrose wrote:

Hi,

Is anyone able to help me understand why our UAV will not always make good line turns while in Auto mode, following a survey line plan. Sometimes it seems to be spot on, other not.

The below is using version 3.6.11 with RTK

IMG_1384
IMG_1384.jpeg480×640 55.7 KB

This is a previous version 3.5.7 with a HereGPS
IMG_0034

Any insight would be great, and potential ways to improve this. I believe all settings are correct in terms of WP_radius, UAV WP heading etc.

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RTK Inject QGround Control

November 4, 2019, 4:59 am
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@robpenrose wrote:

Hi,

Are there any plans to add RTK/GPS Inject through QGround Control as there is in Mission Planner?

We use the RTK inject feature in Mission Planner to inject RTK corrections from the Smartnet NTRIP service, but i couldn’t see any way of doing it in QGround Control when i trialled it.

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Yaw error constant rotation until crash

November 4, 2019, 5:42 am
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@hydropik wrote:

Hello,

I had a bad experience with cube orange, dual GPS (Here2 CAN), blending mode and HereLink.

At the first take off the drone start to turn infinitly on yaw, I try to compensate and after a few second the drone stop rotate on yaw, I stop compensation and the drone restart to rotate just after, my second try to compensate di.dn’t work.

I had to land with this rotation, drone almost flip on land.

Log here: https://1drv.ms/u/s!Agg5RltHfc_vi4BBTlVS5-lx2GLZVA?e=iLwREd

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Dataflash log recording frequency

November 4, 2019, 6:21 am
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@Steve79 wrote:

Hi all.

I’m using a Cubeblack with arducopter 3.6.9. Here’s the question: what’s frequency dataflash telemetry is recorded? I found no reference to that in the wiki, only rates out of mavlink heartbeats from serial ports.

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Walkera RX-SBUS 2.4G 12CH on Pixhawk 2.4.8

November 4, 2019, 6:54 am
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@Oeble_Huygen wrote:

Hi all,

I Rebuild a Walkera Scout-X4 a while ago but got stuck with the original RX 709 receiver . The original has 8 PPM and 4 PWM channels . As i would like to use all the 12 channels of my Devo F12E trough the Pixhawk i got my self a Walkera RX-SBUS 2.4G 12ch receiver and connected it to the RC-In of the Pixhawk… All works like a charm , but i’m not 100% clear about how the fail-safes work … did any one do something like this before ?.. I know the fail-safe works with the "No RC Receiver " settings… but i cant find to much information about what happens when …
I did some testing , i noticed land , disarm and RTL actions on Radio disconnect…but like i said …whats the full story inside the Pixhawk and Ardupilot…

Oeble,

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Unexplained EKF2 compass error

November 4, 2019, 12:40 pm
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@suasguy wrote:

I have a largish coaxial quad running a black cube and a Here+ gps unit (although without the beacon for now). The drone is set to run an automission around a field. The primary compass is a Here+ and those in the cube (mags 2 and 3) are disabled (as they suffer from some throttle interference atm).

On take-off, the EKF2 covariance indicators are low, but most often the compass covariance gradually increases into the red. There are no visible power lines around etc.

Calibration was conducted successfully on default strictness for mags 1 and 2, with mag2 being subsequently disabled to rule it out of the problem.

The total mag field for the primary compass seems solid, with little variance. This might explain why the EKF2 warning seems not to affect mission performance. However, the NKF3.IMZ (and NKF8.IMX) imu innovations closely mirror the indicated EKF compass covariance.

So I have 2 questions:

  1. Does this mean that even though mags 2 and 3 are turned off, they are still being used by EKF2?
  2. Given the vibration is ok, mag1 seems good etc. what could be causing the increase in the compass covariance?

I have tried to attach the log file but the file won’t upload. Instead I have inserted some relevant graphs!

Many thanks.

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2019-10-31 11-03-41.log.param (14.4 KB)

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Power off in the air

November 4, 2019, 1:12 pm
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@alberto.munizaga wrote:

Hi

I was flight my hexa, and sudenly the cube just shut down and fell like a rock.

My Setup is:
-Minicarrier
-Pixhawk black cube
-HereLink Air
-Mauch Current and Voltage sensor
-Mauch Power Source (it power the Power the Mauch sensor, and this one power on the Cube)
-5 and 12V BEC to power the HereLink and the camera systems (this time was with no camera).

As you can see in the picture, the cube stop recording and 10 meters, that is what I saw more or less from the ground.

image
image.png1626×572 38.4 KB

I dont see a current spike, thinking about a shortcut some where.

When the drone was on the ground after the crash, I hear a little sound from the speaker, like tok, tok, tok. The cube was energized, but like stuck. Some times I hear that sound when I plug the battery in and the cube doesnt boot, and i have to reconnect the battery.

I will apreciatte if someone can check the log, maybe there is something im not seeing.

http://190.100.113.54:16211/archivos/logs/04112019Crash.zip

Thanks!

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VTOL Skywalker 1900 - errors and strange behaviour following crash repair

November 4, 2019, 1:25 pm
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@Michael_Brooks wrote:

Hi

Hope someone can offer advice.
Recently repaired my Tiltrotor VTOL (Pixhawk 2.1) after a bad crash where I switched from Qstabilise to manual accidentally and I was too close to the ground.
Anyway it used to fly fine apart from a slight yaw oscillation in Qstab which I was ok with.
I’ve tidied the internal wiring and repaired but I’m getting some strange behaviour.
I successfully took off in QSTAB the transitioned to FBWA but I was fighting to keep the plane in the air. The throttle seemed restricted in some way and I couldn’t maintain altitude. Quickly switched back to QSTAB and landed.
Then I decided to hover and test QRTL - it rolled to one side and looked like it was going into a toilet bowl situation but i didn’t wait to find out and switched back to QSTAB in time to recover.
I’ve got the Dataflash log and telemetry log and there appears to be a number of errors namely “EKF yaw reset”, “error pos horiz variance” and “error compass variance”.
I would like to interrogate these logs to diagnose the issues but I have no idea where to start.
Could anyone give me some pointers about what to look for in the logs?
Thanks

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Dev Call Nov 4, 2019 2300 UTC

November 4, 2019, 3:01 pm
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@CraigElder wrote:

Issues & Pull Requests





















Plane

Copter


Rover

Canberra Conference

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Compass errors on puting new place

November 4, 2019, 7:14 pm
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@Moksh wrote:

Yesterday I was flying but there are some problem compass not completely work so I decide i want to put on other side like on this photo. But problem is I wann be start it always on stabilize mode and after loiter or other. Stabilize mode is ok now I landed and try on loiter mode as I need but after take off on like 30 to 40cm is rounded like 2 and 2.5 times and after stable in lioter mode and his forgetting head direction like a super simple mode what can I do ?
I think the compass and gps module putt together so make this mistake…
And sorry by mistake video is deleted on my phone :sweat:
Google Photos

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Mode change after Guided mode

November 5, 2019, 3:29 am
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@scubari wrote:

hi. Noticed a little bug? with guided mode. Its not possible to return to the mode you were before entering guided mode (with button commands from Herelink).
Lets say im on Stabilize and give Goto (or Take off etc) command, craft enters the Guided mode executes the Goto and hovers in Guided mode and its not possible to set Stabilize mode straight back, i must first set another mode, pos hold, alt hold etc. This was tested with cube black copter 4.0+ herelink beta2.
I have not used Guided mode before, so it might be a known issue ?

Got landing gear working on my S900, one thing i did not think ahead is that i probably need to set one button for LGR neutral to get auto LGR deploy on RTL, because auto deploy did not work´d when LGR button config is for 2 modes, deploy (short button press) / retract (long button press).

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Https://discuss.px4.io/t/rc-radio-calibration-detected-0-radio-channels-to-operate-px4-you-need-at-least-5-channels/6669/4

November 5, 2019, 3:59 am
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@Aisha_Ali wrote:

I’m working with pixhawk mini 3dr, and I’m having problems with connecting with the RC. It’s written it needs 5 channels, and it’s 0 channel. I need help with this

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Urgent Question: Compatible RC Transmitter and Receiver Systems

November 5, 2019, 4:45 am
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@Muhammad_Hamed_Fawzy wrote:

Greetings all,

I am working on a huge hexacopter drone and so far, I have been planning to control it by only using Mission Planner. However, for extra safety, I decided to use an RC transmitter for manual override.

I happen to have this RC transmitter controller: https://www.spektrumrc.com/Products/Default.aspx?ProdId=SPM7800

However, I don’t think I have the receiver. I need to buy a new one that is compatible with Pixhawk 2.1 (Black cube). I found this receiver and I need to verify that it will work with the Pixhawk: https://www.banggood.com/AR8000-2_4GHz-8CH-High-Speed-Mini-Receiver-Support-DSM2-DSMX-For-Spektrum-DX7s-DX8-DX9-Satellite-p-1431169.html?gmcCountry=US&currency=USD&createTmp=1&utm_source=googleshopping&utm_medium=cpc_elc&utm_content=frank&utm_campaign=pla-mix-us-pc-0626&gclid=Cj0KCQiAtf_tBRDtARIsAIbAKe37qTlffLW-oU3MeUP2FSdkU9HE1xrmYuP2h5Qk7EsKqOl-SGVkh5kaAopeEALw_wcB&cur_warehouse=CN

If it will work, how do I connect it to Mission Planner and what parameters do I need to configure.

Looking forward to your answers!

Thank you all!
MA

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Difference between servo_output_raw and PWM signal on Pixhawk servo rail

November 5, 2019, 5:40 am
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@sgopi wrote:

I been searching for answers to this the whole day but haven’t made much progress. I’m trying to determine the difference between the values retrieved from the pixhawk using the mavlink_msg_servo_output_raw message header and the actual value sent to the servo rail pin (specifically for the throttle channel). So far I’ve determined that the armed status of the controller doesn’t affect whether the channel is active or not.

Any help would be greatly appreciated.

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