@Awad wrote:

Hi Guys,

I’m working on a project in the university to enhance the flight duration of UAV using different kind of techniques. one of the methods that we are planning to use is thermal soaring. I’m using mission planner as ground station and i found that the ArduSoar’s team developed this amazing autonomous soaring functionality feature. I was trying to use this feature on my project but i have encountered several difficulties. I’ve read the instructions on the ardupilot website and the paper that they published about how to set up the soaring feature but it was not clear for me.
I found the soaring features on the Full parameters list in mission planner and my question now is how to activate this feature? how to activate any feature from the Full parameters list in general? what are the requirements to set up and utilize the thermal soaring? Do i need programming background to use this feature ? i would be very grateful if someone can help and explain to me in details the requirements and the steps to enable the soaring feature.

Awad

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@Blackbird1952 wrote:

Hello Everyone,
I’m Using pixhawk 2 cube and HERE+ RTK setup for flying.
I want to covert RTK data in PPK data any suggestion for this process?

Also when I’m flying my plane with RTK setup it’ll automatically goes in RTL mode after takeoff in between going for first point.
In normal flying(without RTK in 3D fix) plane perform whole flight path without RTL
Is there any Solution to fix this problem ?

Thank you in advance.

Best Regard
Paras Patel

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@arnaud wrote:

Hi,

I would like to control a winch brushed motor on a boat using information from an encoder inside the winch. Do you think it’s possible using the wheel encoder reading functionality for that purpose ?

Many thanks.

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@davihdsantos wrote:

Hi!

Im trying to add a do-set-parameter (and eventually add to the list of available commands in MP) to change parameters during mission and create missions like:

WAYPOINT 123, 456;
WAYPOINT 123, 789;
JUMP 1, 3;
DO_SET_PARAMETER SAIL_HEEL_MAX, 30;
WAYPOINT 123, 456;
WAYPOINT 123, 789;
and so on…

Any tips on how to do this?

I know that the current mission commands are implemented in AP_Mission library and they get the values for the command using the mavlink_mission_item_int_t message.

To set commands using mavlink SET_PARAMETER (23) i need a message that supports char[16] and the fields of mavlink_mission_item_int_t (first seven) are floats (param1-4, x, y, z), so all other mission commands can work with this message, except the do-set-command, thats probably why it wasnt implemented… This do-set-parameter function is old, it was removed from MP in version 1.2.73 with the comment “has never worked”

I cant use the MAV_CMD_DO_SET_PARAMETER (180) because it uses the parameter numerical id and according to this thats not possible, so im a little confused…

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@rmackay9 wrote:

Congrats to Kenny Trussell whose autonomous mower was has appeared on Hackaday!

Kenny can often be found in the Rover forums but he’s also produced many videos re his mower on his YouTube channel.

Thanks Kenny!

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@bjames3 wrote:

The force ARM feature is not available in copter 3.2.1, is it?
Bill

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@rmackay9 wrote:

A critical issue has been discovered with the FrSky SPort Passthrough telemetry feature (i.e. SERIALx_PROTOCOL = 10) in Copter-4.0.0, Plane-4.0.2 (or 4.0.0 or 4.0.1) and Rover-4.0.0 which can lead to an in-air lockup and crash. The issue is a race condition meaning that while apparently rare it is difficult to say when it might occur.

This issue only affects FrSky SPort Passthrough telemetry users who are on ArduPilot’s 4.0.x releases. This does not affect Copter-3.6.x, Plane-3.9.x or Rover-3.5.x users.

We strongly recommend 4.0.x users disable the FrSky SPort Passthrough telemetry feature by changing the SERIALx_PROTOCOL parameter from “10” to “0” until a fix is released.

Beta testing of Copter-4.0.1 and Plane-4.0.3 has already begun. Rover-4.0.1 will begin beta testing early next week.

Thanks for your patience and support!

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@smartdave wrote:

I just purchased a Zubax GNSS2 GPS. Other than enabling the CAN drivers and setting the GPS type to 9, are there any other gotchas in getting this GPS to work?

I read that there was a timeout issue where AC timed out before the Zubax booted, and you needed to set the timeout to 10? This was a year ago so not sure what has changed…

I figured I would ask before I even plugged it in.

Thanks

Dave

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@yak-54 wrote:

can we change the color of the ADS planes out side bit hard to see when they match the ground

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@Hugues wrote:

Research and build for a sub 250 drone capable of running Ardupilot in all of its functions (including autnomous flight) to maximize flight time.

Weight minimization is key to maximize flight endurance. Batteries represent the bigger % of total weight in such a build. In order to stay below the 250 grams limit (thank you @!_* regulators), 2S voltage is practically a constraint. Therefore research has to be invested in ESCs and flight controllers able to operate under such small voltage. Li-Ion appears to be the current only battery having the best capacity/weight ratio to build a lightweight 2S battery.

Then comes the frame optimization. Most drone frames are overbuilt on purpose in a hype to resist hypothetical circumstances that never happen or are simply unrealistic. Therefore there is a huge oportunity in researching frame design improvements that minimize weight while still maintaining enough rigidity and solidity.

Frame used in this video comes as a result of many hours and discussions in our private international research group of experts. In particular I would like to thank and put Ryan forward (see quadstardrones) who holds the current worldwide record of designing and making the fastest racer drones.

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@nuballawalla wrote:

Hi Everyone- I am new to the forums, especially ArduBoat, but I have been building and flying quads for a few years now. I decided to switch over to boats now that I moved to Germany and, holy cow, are there a lot of rules here! I still need to scratch my tinkering itch so it seems like an autonomous boat will be fun to build and drive around in the little lake nearby.

I have some BlueRobotics T200 thrusters, ESCs, and batteries.

I want to buy a new Pixhawk and I want to avoid the garbage clones on Amazon. I also need a good power distribution board. I prefer to buy everything from the same site, but I will obviously order piecemeal if necessary.

Can anyone recommend a site that sells official hardware in Germany, or elsewhere in the EU?

I made a really basic hull from stuff that I mostly pulled out of the garbage. I will upgrade to something better soon, but just want to get familiar with ArduBoat first.

Thanks!!

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@Gene_Engelgau wrote:

Hi Everyone, this is Gene Engelgau with Fruity Chutes. We manufacture parachute recovery systems for drones. In 2018 we were involved with the ASTM standards committee that created the specification for what it means to have a certified parachute recovery system for a drone for the purposes of flight over people, or for other high-risk use. The standard in the F.38 section is ASTM F3322-18 and is available here for purchase:

https://webstore.ansi.org/Standards/ASTM/ASTMF332218

A key requirement to meet the standard is there needs to be an Automatic Trigger System (ATS) that can detect the drone failure and eject the parachute and it must be independent of the autopilot (is can work in cooperation as well so both can initiate the parachute). It standard also specifies that the drone needs to support a Flight Termination feature that when asserted by the ATS will cause the rotors to immediately stop since the parachute is being ejected. This is missing in the Ardupilot code base as far as I know, at least via an auxiliary input that the ATS can asset into the Pixhawk.

What I would like to propose is the addition of a key feature needed to support an external automatic trigger system called “Flight Termination” for the Ardupilot code base. This was recently added to the PX4 code base. Here is the pull request:

Below is the F3322-18 clause that defines the operation:

3.1.4 autonomous triggering system, ATS, n—device or components independent from any flight critical system of the sUA that will detect and initiate parachute deployment upon detection of a critical failure of the sUA in flight.

The ATS has it’s own IMU and other sensors that can detect the drone falling or flipping (out of control motion that should otherwise never happen). In this case the ATS will trigger the parachute.
The ATS also will generate a PWM signal that is sent to the autopilot to stop the rotors from spinning. This is called the Flight Termination System. The best and most reliable way to do this is to have the autopilot accept a PWM pulse width (or other ways can be done as well like logic level) that when asserted will cause all the rotors to immediately stop. Here is the paragraph from the standard that refers to the flight termination (stop the rotors)

3.1.16 flight termination system, FTS, n—device or components that will disable the propulsion system of the sUA.

Below are several paragraphs that makes the assertions regarding these:

5.8.4 To prevent propellers from injuring people on the ground after a deployment the PRS shall also include a Flight Termination System (FTS).

5.8.4.1 The FTS shall activate at the time of or before parachute deployment is initiated.**

---

The FAA (and other similar government agencies in other countries) are now referring people to this standard who want waivers for flight over people. We make this device here that satisfies the ATS requirement here:

Get back to me your feedback. I can also be reached directly at gene@fruitychutes.com

Thanks for all of your time!!

-Gene - CEO Fruity Chutes

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@pauln wrote:

I’m an Ardupilot Rover novice.
I want to control a skid steered tank (zero turn mower) using 2 linear actuators
I can’t get my motors to correctly run in Mission Planner motor test
(Note: when I say motors I mean the leds on the motor control board that will drive the linear actuators - no motors are connected)

I’m using a pixhawk 2.4.8
I’m using Misssionplanner 1.3.7 on a windows PC
I’m using a Taranis QX7 Inputs= AETR Mixer= AETR to a X8R receiver
I’m using Ardurover chibios Ardurover v4.0.0.0 standard version Rover

Servo1_function = Throttle Left 73
Servo3_function = Throttle Right 74
PILOT_STEER_TYPE = 1 (two paddles) (I have also tried =0)
Cruise_throttle = 50%
Cruise_speed 2.0 m/s
Mot_thr_max = 100%
Mot_Thr-Min =0%
Frame_class= Rover
Mot_PWM_Type = normal
Radio Calibration: Left stick FB is Throttle, Right stick FB is Pitch
Pixhawk servo outputs: RC Ch 3= left and RC ch 2= right
RC Map: Pitch=2, Roll=1, Throttle=3, Yaw=4
Servos set to Min=1100, Trim=1500, Max=1900

In Manual Mode the left stick successfully operates the left motor and the right operates the right.
(forward stick = forward motor, back stick reverses motor).

In Motor Test at 55% Minimum- pressing Motor D will activate the left motor
In Motor Test at 100% I can’t get the right motor to activate. (Tried C then A & B)

This also seems to be true in Auto mode with a waypoint
The left motor will activate depending on heading but I get nothing from the right motor.

Log file attached: Skid steer 1 10:45 1/10/20

I would appreciate help in getting motors to run or any other advice.
Thank you.

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@tj272004 wrote:

So, I am currently flying a 650mm quad that I built. It currently weighs around 1600g. My motors are Garrt 3508 700kv motors with 1147 props on a 4S battery. According to the chart provided on the amazon page of the motors, it should provide about a maximum thrust of 1360g for each motor. So the max thrust for the entire quadshould be about 5440 grams of thrust. I am aware that the ideal thrust to weight ratio is around 3:1 or 2:1. But I am hoping to put some attachments onto my drone that would cause it to weigh around 3000 grams. I am aware that this would put it at around a 1.8:1 thrust ratio which is less then ideal. Would this still fly stably? If I remove some of the attachments on the drone such as my current FPV set up. It would be able to weigh around 2700-2850 grams putting it closer to a 2:1 ratio. But doing that would prevent me from flying FPV until I can get a smaller set up (my current one has a dedicated battery for FPV because I run 4S for the quad and my VTX can only take voltages up to a 3S so I have a 1500mah battery for my FPV, trying to fix that). So my questions are: Does the chart for the motors accurately reflect the real maximum thrust or do they exaggerate or put the max thrust in ideal stable conditions? And does having a 1.8:1 thrust to weight ratio allow me to fly the drone safely. Thanks in advance!

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@Ilya_Smolnikov wrote:

I’m tired … I spent hundreds of hours reading forums and finding problems, but I couldn’t understand why it does not fly as given, I even put 2 gps modules but the error repeated … I changed the propellers and changed the settings … Now I drink bitter vodka and look at the work of my own hands …
log https://cloud.mail.ru/public/5DCi/3qQeF51cA

WhatsApp Image 2020-01-11 at 23.04.13.jpeg1280×720 181 KB

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@Matt_C wrote:

I have seen multiple times where folks have used the auto log analysis feature because why not it’s in mission planner to later be chided for doing so because its not accurate or not worthy. Well again its a tool in mission planner and often times folks have a hard time reading logs so what the heck why not use a “tool” thats available to you to analyze something you may not be so familiar with. I propose to completely remove it as to not confuse folks thinking its a valid tool to use, because as I have read multiple times it doesn’t return anything worthy!

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@vyoufinder wrote:

I’ve been flying DJI’s for several years and gotten accustomed to both sticks auto-centering (springs,) but when setting up my Pixhawk based drones, the radios came with the throttle stick down, not centering at half throttle. I haven’t actually flown that way (throttle stick not auto-centered) yet because I’ve been waiting for either the weather to warm enough for auto-tuning process, or for a U.S. distributor to get the Hex board with orange cube in stock.

I was getting anxious not flying, so I bound my Taranis to my little pocket drone (Syma x21) and flew it around with my Taranis. It was difficult! Flying with the throttle stick just loose and not centering required me to always be on the throttle, and centering it while I was just buzzing the house was also a bit of a challenge to get used to.

How do you set your throttle? Do you have it set to auto center the throttle, or do you prefer to manually continually throttle up and down or center it yourself? What will happen if I set my throttle to auto-center? Will it maintain altitude or will it be rising or dropping constantly? Will my MOT_HOVER_LEARN figure it out for me and keep a (mostly) constant altitude when I let go of the throttle if I use the springs to auto-center it?

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@andresrc wrote:

BUILDING AN OPTIMIZED QUAD FRAME

In some way this blog is inspired on the very excellent job that did rob215x Robert Giordano in his post building a better quad frame and how to build the lightest ardupilot microquadcopter by Hugues. I must say that I won’t be able to make such nice video intros, but I will try to do my best with FEM and Engineering design.

What is the aim of the Project?

• The goal is to build a drone under 250 g. from scratch
• To make the design as light as possible, the frame will be designed under the basis of topology optimization
• The frame must be as light as possible while keeping enough strength and rigidity.
• The frame should support at least bad landings
• CAD, FEM and topology software should be open software
• Learning about material resistance
• Learning about anything related with drones

Project background

With topology optimization we should be able to answer these questions:
Why are most of the frames have a flat cross to support the motors?
Is the X frame the best design or would be better a carbon fibre shell?
What is Topology optimization?
Will the drone be able to fly?

Topology optimization

Topology optimization is a numerical method that optimizes material layout within a given space and within given loads and constrains to maximize the performance of the system (usually, the best relation between stiffness and weight). Let’s see an example.

This kind of magic is nice but it is not so easy. First, the result could be difficult or much more expensive to manufacture. Second, this method is hard for computers. A small part takes hours to get a result on an average computer. The result is mesh dependent, and also variations on loads or constrains could show different or inaccurate results.

It would be great to bring this technology to the frame design, wouldn’t it?

Let’s Begin

The first step is to design the maximum available space, so the computer has the possibility to use material anywhere. The blades produce a design constraint. To minimize the constraint a four blade propeller should be better, but efficiency should be worse, so I think I will use three blade propellers. Distance between opposite motors: 150 mm. (But should be scalable as smaller is lighter).

This block is conservative, as I can be sure that no material outside this container would help to increase rigidity while lowering weight.

Second step: Generating the mesh.

Topology optimization is very dependent on mesh quality and element size. Due to hardware limitations, I can only choose maximum element size of 4 mm. for a tetgen mesh. 2 mm. could give more detailed results, but my computer can’t stand it.

Forces estimation

• Up: Each motor 1,50 N.
• Down: In a case of a free fall from one meter, the motors could generate a force down about 15 N. (Maybe too conservative).
• Lateral forces: Changes in yaw generate forces on the motors. These forces are lower than 1 N.
• Moments: The changes in the motor speed generate a moment in the z axis equals to 0.011 Nm

Solver

With these data, the computer can make its calculation. For this model took about 17 hours, and we got…

Conclusions

• This is what computer says, and of course, it can be wrong.
• If we assume that it is not completely wrong we can say:
• The best frame is a hybrid X.
• The arms that support the motors should not be flat. Instead, they should go up to the top of the frame.
• The design can be made with a 3D printer or with carbon fibre tubes.
• We could mount easily the FC, ESC, in the centre, under the top and therefore, the electronics will remain protected.
• It will be easy to hang the battery from the lower square. This square can also be used as a landing gear.

Next level: From design to reality

To be continued.

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@Jared wrote:

In mission planner, there is RNGFND from 0 to 9 and A.
I can define 10 zones, left front left, front, front right, right, rear right, rear, rear left, up & down.
I would like to utilise these but I see no documentation ANYWHERE about using rngfnd for more than two sensors.

can someone link me to any documentation for more than 2 sensors on i2c or pwm please?

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@Pavel_Srnsky wrote:

Hello I would like to ask for advise. I finally get to the calibration of the pixhawk cube board whi I bought decemeber 2017 ( CubeBlack 002B0024 3136510C 34313630). And I have similar problem to this archived topic Pixhawk 2 - only 1 esc not calibrating .ESC no.1 won’t calibrate, other five are ok and spining. I would like to ask whaht can be the solution , If I still need to use the workaround with SERVO5_FUNCTION and how, when I have hexacopter and RC 5 is booked?
thank you.

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