@Sunny52266 wrote:

Hello everyone!

I was having a difficult time finding a solution to my problem that during auto missions, the plane faces away from the desired heading, that is it should have its nose pointed towards the waypoint but it maintains some kind of an angle during the said leg.

A tlog for the flight is attached for anyone willing to help.

http://www.mediafire.com/file/axh1yq9eexluzdh/2020-01-23_14-06-42.tlog/file

Thanks in advance.

Cheers!!

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@maciek252 wrote:

Hi, I have been successfully flying a big X8 copter running the ArduCopter 3.6.9 software on a Pixhawk 4 Holybro. But I’ve read about the critical fix with FrSky telemetry (which I use) so I decided to give a try to the fixed version. But something went wrong as two motors (6 and 7?) weren’t working. I use DSHOT for controlling the motors. All was running perfectly smoothly with the version 3.6.9. I send two logs, the earlier one with 3.6.9 and the latter one with 4.0.1rc3. Were there any changes with respect to the DSHOT control? (using the FMU outputs, of course)

How to update Pixhawk 4 Holybro? Should I use the Pixhawk4 or fmuv5 branch? I guess it was fmuv5 displayed as an USB name before and now I’ve used Pixhawk 4 (I’ve found this recommendation on yt). What’s the difference?

I’m not very unhappy as nothing bad happened

Another question related to firmware versions: why Mission Planner still offers the choice between frame types at the level of choosing firmware? (Quad, hex, etc). Have not these been consolidated into a single firmware file with choice done by means of parameters?

EDIT: MissionPlanner suggested the version CUAv5. But now motors 6-8 don’t work…

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@danielhellin wrote:

I look for differences between Install Firmware and Install Firmware Manifest, and I haven’t found anything on the wiki or in the blog.

Just to know, why are there two different options?

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@danielhellin wrote:

Heli Setup page looks disable when updating to new firmware 4.0.0

Heli-Setup-2020-01-24 15_37_51-Window.png1199×842 112 KB

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@Stix77 wrote:

Hi
I’m completely new to this. I have a bait boat that I have built and I have toyed with the idea of putting an auto pilot on the boat. Having just opened the boat up to replace a motor, I think the time is right to give it a go.

I was just about to click buy on a kit on eBay (APM 2.8) and then I saw a comment on here about it being obsolete… is it worth buying the pixhawk 4 GPS kits on eBay or am I better off sourcing each component separately?

Basically, I’m looking to create an autopilot, I guess using mission planner so that the boat automatically goes to a set point, drops the bait hopper and then automatically comes back.

Any help would be greatly appreciated

Thanks

Steve

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@LuckyBird wrote:

HaoAzjJ.png1350×1125

1. Introduction

This is the second half of the 2-part blog posts. See part 1 if you are interested in a Python implementation of this same project but not related to Robot Operating System.

Synopsis

Utilizing the Intel RealSense Tracking Camera T265 for multiple purposes:

1. Stable, accurate GPS-less flight with its standalone 6-dof (200Hz): The first and foremost usage of the VIO tracking camera, which has been realized in this GSoC 2019 project. Wikis are available for Python and ROS support.
2. Precision landing: without (part 1) and with (part 2, this blog post) ROS.

In the below sections I will first briefly outline the system, followed by a step-by-step guide to make the system work and actual experimental process, and finally some discussions on the many choices for implementation. Note that details on some parts will be omitted if they are already covered in the linked wikis or previous blog posts.

Let’s dive in.

2. Prerequisite

Hardware

• Vehicle: A copter vehicle to your liking. If you are new to the DIY world, the Copter wiki is your one-stop shop for all the basics that you need to learn.
• Onboard computer: a Linux system with USB3 port(s) is required. The Up board is what I am using, but the Jetson Nano or RPi 4 are also suitable alternatives for low budget setup.
• Sensor: the Realsense T265 camera in downfacing configuration (USB port pointing to the right of the vehicle). Different camera orientations require some parameter modifications.
• Landing target: One AprilTag’s fiducial marker printed, measured and fixed to the landing surface.

Software

• Follow the ROS-based wiki for non-GPS navigation with VIO camera until you have a system capable of hovering in Loiter running ROS. For troubleshooting related questions, please post questions on the ArduPilot forum or comment on the blog for installation and real flight experiments.

• Before you move on, make sure that you have a system with:

  • librealsense, pyrealsense and realsense-ros working.
  • MAVROS connection between the companion computer and ArduPilot FCU.
  • Ability to attain stable flight in Loiter mode (highly recommended).

Prepare the landing target

• First, select (or create) the tag that you want to use as a landing target. Say you decide to use tag id 00 of the 36h11 type. Print, then measure and note down the actual tag’s size (the black part of the tag), which should be 0.144m if printed on an A4 paper.

• Fix the tag to some landing pad or to the ground, make sure that it won’t get blown away when the copter is descending.

The pdf for all tags of the 36h11 family can be found here. Other tag options can be found here.

3. How does it work?

How to perform accurate localization and navigation in ROS?

You can take a look at our past GSoC 2019 project for a complete explaination on the VIO integration part.

How to perform precision landing in ROS?

In a nutshell, the process includes:

1. Obtaining the raw images from the downfacing camera.
2. Applying the computer vision algorithm of choice to acquire the target.
3. Performing necessary calculation to create the right kind of data for the flight stack, then send them to the FCU.
4. Experimenting to figure out the limits of the system, which include things like the min-max target detection range for a given target size, min-max data rate for a stable landing and how it affects other parts of the system, tuning parameters to achieve desired results, etc.

The bulk of this blog post is about how to realize step #1-#3 for one specific setup which includes the Intel Realsense T265 as the sensor of choice, AprilTag as the target detection algorithm, and ArduPilot as our flight stack.

More specifically, here’s the data flow for our ROS-based precision landing project:

ID	Launch command	Description
1	roslaunch realsense2_camera rs_t265.launch	The camera driver node realsense-ros, which publishes raw images in the topics /camera/fisheye1/image_raw and /camera/fisheye2/image_raw.
2	roslaunch vision_to_mavros t265_fisheye_undistort.launch	A node that subscribes to the raw stereo images, undistorts and rectifies them, then publishes the rectified images as well as corresponding camera_info topics.
3	roslaunch apriltag_ros continuous_detection.launch	ROS wrapper node for apriltag, requires rectified image and camera_info topics. Detect the tag and publish the tag’s pose in the camera frame, given the correct settings in the tags.yaml file.
4	roslaunch vision_to_mavros t265_downfacing_tf_to_mavros.launch	1. Transform 6-DoF pose data from T265 to VISION_POSITION_ESTIMATE data for MAVROS. 2. Transform landing tag’s pose in the camera frame (output from apriltag_ros) into LANDING_TARGET data for MAVROS.
5	roslaunch mavros apm.launch	MAVROS node for communication between ROS and ArduPilot.

4. Installation

First, a quick clarification: apriltag_ros (and mavros, if built from source) is built with catkin build, whereas vision_to_mavros (and realsense-ros, if built from source) is built with catkin_make. Thus, there are two separate catkin workspaces (catkin_ws for catkin_make, and catkin_ws_build for catkin build) in the sections below.

Install AprilTag 3 library and ROS wrapper

• Note that apriltag_ros requires catkin build workspace, which must be separated from catkin_make workspace for realsense-ros (if built from source) and vision_to_mavros packages.

• The commands below are adopted from the apriltag_ros repo. Always check the repo for the most up-to-date instructions. Currently, ROS Kinetic and Melodic are supported.

export ROS_DISTRO=kinetic               # Set this to your distro, e.g. kinetic or melodic
source /opt/ros/$ROS_DISTRO/setup.bash  # Source your ROS distro 
mkdir -p ~/catkin_ws_build/src          # Make a new workspace, change the name if you have a catkin_ws folder created with catkin_make
cd ~/catkin_ws_build/src                                        # Navigate to the source space
git clone https://github.com/AprilRobotics/apriltag.git         # Clone Apriltag library
git clone https://github.com/AprilRobotics/apriltag_ros.git     # Clone Apriltag ROS wrapper
cd ~/catkin_ws_build                                            # Navigate to the workspace
rosdep install --from-paths src --ignore-src -r -y  # Install any missing packages
catkin build                                        # Build all packages in the workspace (catkin_make_isolated will work also)
source devel/setup.bash   # Make sure to source otherwise ros cannot find the nodes from this workspace

• The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. Python wrapper will also be installed if python3 is installed.

Install vision_to_mavros package

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/hoangthien94/vision_to_mavros.git
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc  # Add source command to .bashrc, if you have not done so
source ~/.bashrc

Install mavros and establish connection between companion computer and ArduPilot

Follow the wiki page, then it would be simplier if all necessary changes are saved in apm.launch. Otherwise, remember to append the exact params (such as fcu_url) in all the subsequent launch commands for MAVROS.

5. Modification of parameters

After all necessary packages are installed, certain parameters need to be changed for things to work properly.

Change camera calibration file for vision_to_mavros package according your specific device

These parameters are required to perform image rectification with the Kanalla-Brandt distortion model which is implemented in OpenCV as the “fisheye” module.

1. Obtain the real params: With the T265 plugged in a computer with librealsense installed, you can run rs-enumerate-devices -c, which will show a host of information under the name Stream Profiles supported by Tracking Module. Example output of the command can be seen here.

2. Then, modify the params K1, D1, K2, D2, R, T in the calibration file catkin_ws/src/vision_to_mavros/cfg/t265.yaml as follows:

Params in t265.yaml	Description	Output obtained from rs-enumerate-devices -c
K1	Intrinsic matrix of left camera	Intrinsic of “Fisheye 1” : PPX, PPY, Fx, Fy
K2	Intrinsic matrix of right camera	Intrinsic of “Fisheye 2” : PPX, PPY, Fx, Fy
D1	Distortion coefficients of left camera	Intrinsic of “Fisheye 1” : First 4 numbers of Coeffs
D2	Distortion coefficients of right camera	Intrinsic of “Fisheye 2” : First 4 numbers of Coeffs
R	Rotation matrix from left camera to right camera	Extrinsic from “Fisheye 1” To “Fisheye 2” : Rotation Matrix
T	Translation vector from left camera to right camera	Extrinsic from “Fisheye 1” To “Fisheye 2” : Translation Vector

with the camera matrix K as:

Fx	0	PPX
0	Fy	PPY
0	0	1

Change configuration of apriltag_ros package according to the landing tag

• Find the file apriltag_ros/apriltag_ros/config/tags.yaml and add a standalone tag with the actual id, size and set NAME as landing_target. For example, with the example A4 tag above we would have:

standalone_tags:
  [
   {id: 0, size: 0.144, name: landing_target}
  ]

The id and size are required for the AprilTag algorithm, and the name is the frame_id under which the tag’s pose in the camera frame would be published in the /tf ROS topic.

• Next, modify camera_name and image_topic params in the launch file apriltag_ros/apriltag_ros/launch/continuous_detection.launch as follows:

  <arg name="camera_name" default="/camera/fisheye2/rect" />
  <arg name="camera_frame" default="camera_fisheye2_optical_frame" />
  <arg name="image_topic" default="image" />

Where do these values come from? Note that the outputs from t265_fisheye_undistort node include:

• Rectified image topics: /camera/fisheye1/rect/image (left) and /camera/fisheye2/rect/image (right).
• Camera info topics: /camera/fisheye1/rect/camera_info (left) and /camera/fisheye1/rect/camera_info (right).

and since apriltag_ros subscribes to $(arg camera_name)/$(arg image_topic), we split the image topic’s name into 2 parts, and for the right camera (fisheye2), thus we end up with the above params. camera_frame can be anything, but the name of camera’s frame as published by realsense-ros is camera_fisheye2_optical_frame (default value for the right camera), thus we will also use it for consistency. This might come in handy for calculation related to /tf as well as visualization in RViz.

Note: if you wish to use the left camera, simply find all instances of fisheye2 and change them into fisheye1 in 2 launch files: continuous_detection.launch and t265_downfacing_tf_to_mavros.launch.

• Finally, make sure:
  • precland_target_frame_id in t265_downfacing_tf_to_mavros.launch must matches the tag’s name in apriltag_ros/apriltag_ros/config/tags.yaml, and
  • precland_camera_frame_id in t265_downfacing_tf_to_mavros.launch must matches camera_frame in apriltag_ros/apriltag_ros/launch/continuous_detection.launch.

Change MAVROS setting to allow relaying LANDING_TARGET messages

Navigate to mavros launch folder, edit the apm_config.yaml file and change listen_lt from false to true.

roscd mavros/launch
sudo nano apm_config.yaml
# Find landing_target, change liten_lt: true

ArduPilot params

• The params required to facilitate VIO flight are documented in this wiki.
• Set the following parameters through Mission Planner (or other GCS) to enable the precision landing feature and then reboot the flight controller.

  PLND_ENABLED = 1
  PLND_TYPE = 1
  

• Setup the vehicle with one of the flight modes to LAND.
• Other PLND_* param can be set according to your references, see here for the full list.

Once all of the params are set correctly, it’s time for some ground test.

6. Ground test

Let’s take the system apart, and test them one by one before any real flights. You might want to run the following commands one by one, make sure each of them produces the right results before moving on:

1. roslaunch realsense2_camera rs_t265.launch: all the data from the tracking camera should be coming through, including the raw fisheye images:
   
   xrNbmF4.png848×876
2. roslaunch vision_to_mavros t265_fisheye_undistort.launch: view the rectified image /camera/fisheye2/rect/image with rqt_image_view or RViz. Additionally, check that /camera/fisheye2/rect/camera_info are being published.
   
3. roslaunch apriltag_ros continuous_detection.launch: view the detection image tag_detections_image with rqt_image_view or RViz. Then move the copter so that the camera points at the landing tag, then /tag_detections and /tf should publish the detected tag’s pose in the camera’s frame.
   
4. roslaunch vision_to_mavros t265_downfacing_tf_to_mavros.launch: the ROS topics /mavros/vision_pose/pose and /mavros/landing_target/raw should be populated. The latter only has data coming in when the landing target is in the field of view of the camera (and distinguishable, i.e. not too far away or too close).
5. roslaunch mavros apm.launch: there should be connection with the FCU, with messages popping up on the terminal.

After launching all the 5 nodes, hold the vehicle on top of the landing tag such that the camera can see the landing tag clearly. Then, check on the GCS:

Verify that ArduPilot is receiving LANDING_TARGET data

• Whenever the landing tag is in the camera’s view and MAVROS is running correctly, view MAVLink messages on the GCS (Mission Planner: Ctrl+F > MAVLink Inspector, QGC: Widgets > MAVLink Inspector). LANDING_TARGET should have updated values in the angle_x, angle_y, distance fields (the rest are mostly ignored).
  
  2ZkqMtl.png614×720
• Move the camera around and check the values in all xyz directions are correct. In this project’s default configuration (USB port to the right), the camera’s x-axis will point to the right, y-axis will point to the back, and z-axis points downward (to the ground).

Verify that ArduPilot is receiving VISION_POSE data

• Similarly, check that the message VISION_POSITION_ESTIMATE is coming through to the flight controller.

Improve detection rate of AprilTag if it is too low

Ideally, the LANDING_TARGET message should come at 10Hz and above for a smooth landing. If the output of AprilTag is lower than 10Hz (check the rate with rostopic hz /tag_detections or in GCS but with USB connection), you can improve the detection rate by checking out the corresponding ROS wiki and adjust the settings in settings.yaml.

7. Flight test

Once everything is confirmed to work properly, all of the individual launch files are grouped in the t265_precland.launch. Thus, for the flight tests the only command needed is:

roslaunch vision_to_mavros t265_precland.launch

Thereafter, we can simply follow the ArduPilot precision landing with IR-Lock wiki for instructions on how to actuate the landing in-flight. Below is a short summary:

• For downfacing configuration of the Realsense T265, there is a problem with inconsistent yaw angle between runs. The temporary fix is to tilt the nose up a little, so that the camera is not facing flat down, when the script starts. Once the FCU starts receiving vision messages, the vehicle can be put flat on the ground.
  
  Till the nose up before the script starts1200×900
• Take-off and hover above the target.
• When target is detected (see above about verifying that ArduPilot is receiving LANDING_TARGET data), you can switch the vehicle to LAND.
• If everything is working properly, the copter should move towards then land on the tag.
• As usual, be prepared to retake control if there are sudden unexpected movements (i.e. change back the mode to Stabilize, AltHold or Loiter).
• If all is well, some successful flight tests can be seen below:

8. Discussion and alternative approaches

For this blog post, almost every steps have some alternatives that should be considered for your particular situation.

Fiducial marker system

There are many other options out there such as Aruco which is already supported in this wiki. Note that Aruco is now GPL licensed while AprilTag is using BSD license. The latest version of AprilTag (3) also support new and flexible layouts (circle, nested, etc.). You can find some comparisons in this paper.

Camera orientation

• It is implicitly assumed that the camera’s x axis is aligned with the vehicle’s y axis (to the right) while the camera’s y axis aligned with the vehicle’s -x (to the back). This is the same as pitching the camera down 90 degrees from facing forward.
• If your camera is oriented differently, then a transformation is mandatory. For reference, here’s the T265’s coordinates (note the fisheye’s axes), whereas the FCU’s local frame is (X Forward, Y Right and Z Down).

Image rectification for AprilTag detection

• The AprilTag’s algorithm assumes rectified image and camera_info topics as input. Since the T265’s Kannala-Brandt distortion model (so-called fisheye model in OpenCV) is not yet supported in image_proc pipeline, we need to perform rectification in some other ways. In this project, I wrote a node that takes inspiration from the sample script t265_stereo.py, but in C++ and ROS.

• Additionally, left and right images are also synced with ApproximateTime_Policy to produce time-synched rectified stereo images, which might become important for other purposes, such as generating disparity maps.

• I would highly recommend you check out the image_undistort repo, which supports a number of other less popular models and a bunch of cool computer vision functions, however not the ones we specifically need for this project.

How to populate the LANDING_TARGET data messages

• If the landing tag is detected in the image, precision landing can be performed following MAVLink’s landing target protocol.
• As of this writing, different flight stack (PX4 and AP) supports different kinds of input. See the MAVLink wiki for details. For ArduPilot, only LANDING_TARGET fields relative to the captured image are supported (hence the ignored fields in the LANDING_TARGET message).

How to run MAVROS landing target plugin?

There seems to be no documentation anywhere on how to use the plugin correctly that I could find. Hence, to the source code!

Below is a brief rundown from my understanding of reading the code.

• First, take a look at the main source code for landing_target plugin and the definition of the LANDING_TARGET message.
• All input params for this plugin can be set in this section of apm_config.yaml before launching mavros.
• The data input type for landing_target plugin can be in 1 of 3 forms, as seen in this part:
  1. Through listening to /tf transform. Can be enabled by setting listen_tf to true.
  2. Through subscribing to /mavros/landing_target/pose messages (of type PoseStamped). Can be enabled by setting both listen_tf and listen_lt to false.
  3. Through subscribing to /mavros/landing_target/raw messages (of type LANDING_TARGET). Can be enabled by setting listen_tf to false and listen_lt to true.
• You can choose whichever input method that works for you. However, note that for option i and ii (as of this writing) there are several ENU-NED frame transformation functions implemented in the code that one needs to decipher in order to get the correct output given an (presumably well-understood) input. Specifically, read this function to learn about the conversions, related parameters and what goes where.
• In this project, option iii was selected for it provides the most control of the final MAVLink messages to be sent and the data that we obtained from AprilTag is already in the required NED frame. Looky here. If you are working with PX4, however, the results might not be the same (see point above).

9. Useful links

• A quick overview of AprilTag.
• A very helpful explaination of the related OpenCV concepts: stereo calibration and image rectification.
• Many useful infos regarding precision landing are gathered in this discussion: How to use Precision Landing feature with companion computer?.
• More tuning instructions related to precision landing can be found in the wiki: http://ardupilot.org/copter/docs/precision-landing-with-irlock.html.

Happy flying!

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@MartyMcFly wrote:

I ve got the latest beta firmware on my quad its flying o/k except when I give a full throttle it leans to the left but then levels off ive done a recallibration of level and done an esc calibration any ideas gents

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@rngfnd_1 wrote:

Hi everyone,
Does anyone manage to read values with an ultrasonic HC-SR04 sensor with I2C module Alpha?
It is this one:

I used an analog HC-SR04 and I got readings, but with this one y can’t.
I’m trying to conect it whit RNGFND_TYPE: 2, similar to MaxbotixI2C because it doen’t have a specific one.
Thanks!

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@dkemxr wrote:

Can someone please confirm that the RC output data shown in logs with Dshot configuration is just being scaled to 1000us-2000us for utility purposes? Further, by looking at this data it cannot be determined if Dshot is being used or what protocol? And then just a question; how is the scaling done if this is true?

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@Dronotique wrote:

Hello,

I’m trying to tune my new plane, but I meet a problem I don’t understand.

When I make an auto hand launch, the plane climb at around 5 deg pitch instead of 15 set in TKOFF_LVL_PITCH parameter…
But it can climb much more because it’s at 60% of throttle and climb to next waypoint at 15 deg after “takeoff complete” event.

This make the takeoff took around 220 meters to takeoff at 20m. I would like to takeoff shorter

Do I forgot a parameter or misunderstood something?

My parameters
20200122_Save_W2000.param (18.6 KB)

The log file

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@Noah wrote:

I’m trying to get the HereFlow working with the Pixhawk 4 Mini. I can get it working on a regular Pixhawk 4 using CAN1, and changing the parameters as mentioned in the documentation for the HereFlow. However, whenever I change the parameters on the Pixhawk 4 mini, it does not work at all. Has anyone been able to get this working on the Pixhawk 4 Mini? If so, what parameters were used, and how are they different from those used in a Pixhawk 4. I followed the instructions from the link below to get it working on the PIxhawk 4.

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@rmackay9 wrote:

Copter-4.0.1 has been released as the official firmware for multicopters and traditional helicopters and should be available for download from the ground stations within a few hours of this post.

The changes vs 4.0.0 are in the ReleaseNotes and copied below:

1. FrSky telemetry status text handling fix (Critical Fix)
2. Circle mode allows pilot control of radius and rotation speed
3. CAN servo feedback logged
4. Magnetic declination tables updated
5. Serial0 protocol forced to MAVLink (avoids accidental disabling of USB port)
6. Minor Enhancements:
   a) Autorotate flight mode renamed to Heli_Autorotate
   b) Solo default parameters updated
   c) “Prepared log system” initialisation message removed
7. Bug Fixes:
   a) TradHeli RSC RC passthrough fixed
   b) CubeOrange and Durandal I2C timing fixed (was running slow)
   c) Compass calibration auto orientation skips “pitch 7” which could cause cal to fail
   d) Durandal’s fourth I2C port fixed
   e) Linux boards with CAN support fixed
   f) Neopixel added to SERVOx_FUNCTION param description
   g) NMEA Output fixed (was sending an extra CR)
   h) Optflow messages sent even if EKF has no height estimate
   i) SkyViper build fixed
   j) Spektrum/DSM 22ms RC input fixed
   k) “UC Node Down” message removed (was unnecessarily scary)
   l) Semaphore fixes for Logging, Filesystem and UAVCAN Dyanmic Node Allocation
   m) RangeFinder parameter fix (4th rangefinder was using 1st rangefinder’s params)
   n) TradHeli STB_COL_x parameter description fixed

The most important change is “1) FrSky telemetry status text handling fix (Critical Fix)” which resolves the critical issue announced in this blog post.

WARNING: we have seen two reports of CAN compasses not being recognised at startup unless BRD_DELAY_MS is set to 5000. This parameter slows down the autopilot’s boot time (by 5 seconds) which gives more time for the CAN peripheral to startup. This is not a critical “bug” that should lead to crashes but we would like to hear from users if they are having troubles with CAN compasses being detected.

Special thanks to our beta testers for testing this release over the past few weeks. You are a critical part of the process and we really appreciate your help! Thanks!

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@Peterarnold wrote:

I want to control a Gremsy gimbal and a Seagull #REC together via a Cube . So far, I enabled SBUS out (BRD_SBUS = 1) and connected the gimbal using SBUS which works using Ch 8-11. I need 3 more channels to control the Seagull #REC and had hoped to use AUX Pins 4-6 but can’t get it to work.

Is it possible to use SBUS out as well as the AUX pins? I have tried setting the appropriate SERVOxx settings to RCINxx, RCPassThru, and disabled but no luck and run out of ideas!

Anyone out there able to help with this?

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@Saijin_Naib wrote:

I’m looking to build a FliteTest Mustang P51D as my first scratch build, and I think I’d like to have ArduPlane along for the ride. I currently have a Pixhawk1 sitting around, but I feel it is simply too large/bulky for such a small build.

I’m quite tempted by the PixRacer R15 by mRobotics, but budget dictates I should look for a deal where I can.

Enter the HappyModel PixRacer R15 on eBay.
Does anyone have any experience with these? Trash? Acceptable?

Thanks!

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@hassani wrote:

Hi,
I want set Pid Parameters, my Quadcopter is heavy, it Octa qua frame about 12kg and 24" props. motor is 250kw and 6s.
Someone has an example setting Pid for heavy Quadcopter ?
Please tell me if you have any experience,
Thanks Dev team.

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@arduplt wrote:

image.png1362×690 209 KB

Hello, I am getting this error when trying to upload a Firmware to my Pixhawk 1. I tried uploading a new Bootloader, Uploading with QGroundcontrol, everything failed.

Has anyone a solution?

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@MarcK wrote:

Hi.
I tested micro lidar lv53l1x on copter 4.0. Flight in drizzle over road and bushes. Soon I will thoroughly test the sensor. But in the meantime I can say that it works. It seems that in conditions where the range is no longer the last height snaps …

lv53l1x.jpg1920×1200 234 KB

alt.jpg1920×1200 333 KB

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@Christopher_Milner wrote:

Does anyone have the mavproxy ntrip module working at all? If so what python and OS are you running on? When I use it to connect to cddis-caster.gsfc.nasa.gov, it is not working; only about 1 in 10 RTCM messages are getting parsed and passed on. It seems there is some garbage data in the byte stream that is breaking the checksum calculators. When I connect to that caster using mission planner all is fine.

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@Erfan_Jamshidi wrote:

Hello ,
I have two questions
1)shall Ido all the process of tunning whenever I add a bit of weight to my copter?

isn’t there any way to upgrade the weight for the copter and it learns it by it self ?

2. after Updating a new firmware , should I do the tuning process and fly again to get the hover throttle learned before flying in the alt hold mode or AUTO mode ?

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@flying_for_fun wrote:

Hello! I’m using a castle creations 100 amp esc with a 6s Li-ion battery pack and arduplane.

I’m wondering what I should make the low voltage shutoff for both my esc and in the arduplane settings since the li-ion cell sheet says 2.5v is the discharge ending voltage.

Thanks

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