@whiani wrote:
What I want to achieve the rover keep facing towards A while moving back to B.
It’s OK when the rover enters forward to run the waypoint mission. But when it moves backward executing the mission, not on the AB line,the route is very crooked.
Are there any bugs in the code when executing the mission backward?
https://pan.baidu.com/s/1FFN1xeKdke3OdR9xCkLLFwFirmware version: ArduRover v3.5.1
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@Peterarnold wrote:
In a simple Copter Mission as in the image how can you control the speed the copter flies between waypoints?
In ‘Auto WP - Grid’ there is a box where you can set the copter speed but in a manually created mission I can find a similar setting.
Any help would be appreciated!
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@iSkyMaster wrote:
I want the ability to fully utilize all the Aux ports in the Pixhawk and need little help.
So far I have figured out how to use one Aux Port, for example:
- RC Rx is connected to PixHawk via S-BUS.
- I set TX CHAN 10, to anything you like and assigned a toggle switch to it.
To move a servo off Aux 2
- Inside mission planner “go to Camera Gimbal” section “Shutter Control”, from drop down select “Servo 10”.
- Connect servo to Aux 2 pin.
Everything works fine.
few things are very confusing.
A. Ardu Pilot documentations says you must provide +5V to one of the Aux ports. It appears I can still move the servo with any +5V. Is Ardu Pilot documentation wrong?
B. if I want to control other servos via PixHawk Aux ports, how to do set them inside the Mission planner? it appears the shutter control is the only feature. Any suggestions?
C. What does it mean Aux 5 & 6 are relay? Does it mean it will give +5V when enabled? To me relay means a mechanical switch which is nothing more than an OFF and ON switch.
Thanks for your help.
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@jasclarke308 wrote:
For some time now I’ve been interested in how effective the vibration damping of flight controllers has been when applied to larger, heavy lift UAVs such as large multicopters and helicopters. I’ve always been a bit suspicious that the damping is not actually effectively at low frequencies, and may even be detrimental. After all, it’s incredibly hard to effectively isolate a small mass such as a PCB.
My main goal was to find the most suitable controller for a helicopter or multirotor with a rotor speed of 1800rpm (30Hz). In general, we can expect vibration to be worst in the 1st, 2nd and 4th harmonic (30Hz, 60Hz and 120Hz) of that rotor speed.
Leaning heavily on @andyp1per’s work here https://github.com/ArduPilot/ardupilot/pull/11795#issuecomment-527620873 I devised a test to try to quantify the magnitude of the vibrations picked up in several flight controllers at those frequencies plus a few more.
The layout of the testing hardware is:
1- Vibration speaker: Produces a repeatable vibration if volume isn’t changed. https://www.amazon.ca/Resonance-Speaker-Frequency-Vibration-Louderspeaker/dp/B074H4S71B/
2- Flight controller
3- Amplifier https://www.amazon.ca/Nobsound-Bluetooth-Digital-Amplifier-Supply/dp/B07CWMHTCM/
4- Laptop running an online tone generator https://www.szynalski.com/tone-generator/Things that were held constant throughout the tests:
- Weight was added to the flight controllers to ensure that they all saw the same magnitude of vibration from a given sound setting.
- Arducopter 4.0.3 uploaded to all.
- Amplifier volume set to 100%; computer volume set to 30%
- Double sided foam fixed the base of the speaker to the bench; the foam attaching the flight controller to the moving part of the speaker was also the same between tests.
Variables that may or may not have affected data:
- Different IMUs may produce different results. I’ve noted those in the table.
- The USB cable attaching the flight controller to the computer may have amplified or reduced vibration.
To test the flight controllers, I attached them one by one and sent a frequency to the speaker in a range of 30-180Hz in 30Hz increments. I connected to the flight controllers in Mission Planner and read live readings of VibeZ (since that’s the axis of excitation). These are the results:
Note that there is a marked difference in the value of VibeZ between different frequencies; this is due to a combination of how VibeZ is calculated, effectiveness of the vibration damping at different frequencies and the speaker system itself. Therefore we can’t make comparisons between different frequencies, but we can compare different flight controllers at the same frequencies. Also note that I we are only testing in the Z-axis; we can’t draw any conclusions whatsoever about the effectiveness in the other axes.
Conclusions from the data:
- The CUAV Pixhack V3 is quite a bit better than the others at frequencies up to 120Hz. This has been known anecdotally by the community but it’s nice to verify.
- The Cube Black is noticeably worse at the 60Hz and 90Hz frequencies. This also has been known of; the damping is said to have a resonance at ~60Hz but to me it looks like that value may be anywhere from 60-90Hz.
- The Cube Black seems to have excellent damping characteristics at >120Hz. It surprises me that it’s so much better than the others but that could be errors in testing.
- The Cube Orange seems to have similar damping to the Cube Black which makes sense.
- The Pixhack V5+ has slightly more effective damping than the Cubes. They also use foam damping but it seems like they add ballast to the IMU board to increase effectiveness of the damping.
- Based on the above data, the Pixhack V3 would be the best choice at an 1800rpm rotor speed because it outperforms the others at 30, 60 and 120Hz.
I was particularly interested in the results from the Cube Black because the vibrations seemed so bad. I devised a further test so that I could compare vibrations on the first (damped) IMU against the vibration of the third (undamped) IMU. To do this, I changed the parameter INS_ENABLE_MASK to 4 which meant that IMU1 and IMU2 were disabled. The results of the side-by-side comparison of IMU1 and IMU3 resulted in:
From this data, it’s plain to see that for frequencies less than 120Hz, the foam damping is amplifying the vibration that the IMUs see, thus confirming my suspicions. So while the manufacturer claims that frequencies of 60Hz should be avoided, I would expand that to include all frequencies less than 120Hz. This means that the Cube Black (and therefore most likely the Cube Orange) is not a good choice for large helis and multis.
Some takeaways I have from these experiments:
- Internal damping is a great concept for and highly effective for small to medium size copters.
- Internal damping is hard to execute for large copters; the weight of the IMU PCB is just too light to be able to effectively damp out low frequency vibrations. The best bet for large copters is to use external damping options, whereby the weight of the isolated components can be increased by using ballast or adding other components (eg. radios, GPSs etc.)
- It would be nice to be able to choose which IMU was the default IMU in Arducopter (unfortunately though the Cube Black’s third IMU is unheated which is less than ideal up here in Canada).
- I would like to get my hands on some other flight controllers such as the Durandal and the CUAV X7 Pro and Nora.
Hope this has been insightful,
Jason
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@Andre-K wrote:
How to find a specific release?
before, we had branches for each release, how can I check out ArduCopter 4.0.2 or 4.0.4 now?
(I expected to find something about this at https://ardupilot.org/dev/ )Also: this forum states “no support questions” - but are development-related questions like this ok?
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@Alisrour wrote:
I want to change the controller of altittude and attitude of the Arduplane firmware from a controller of PID to a Model free controller also known as intelligent PID . Any ideas how would it be possible to do that using matlab and a controller apm 2.6. what would be the work flow?
Do i have to simulate my controller on Matlab and then write the code and edit the firmware?
or there is a method or toolbox that enables the change without so much effort?
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@Andres wrote:
Hi,
I’m testing a quad and I have some issues with motor balance:
Test: Motor Balance = FAIL - Motor channel averages = [1422, 1418, 1610, 1657]
Average motor output = 1526
Difference between min and max motor averages = 239RCOU C1 and C2 are pretty similar and C3 and C4 too. But there is a difference between C1/C2 and C3/C4.
Motor 3 and 4 are hotter than 1 and 2.I tried to calibrate ESC but the problem continues. Props are balanced and CoG it’s ok.
Thanks in advance.
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@Gergana_Lulcheva1 wrote:
Hello,
I’m having some difficulties about the motors. I have done all of the calibrations and they work ok, when I test the motors from the mission planner they work fine, but when I try to run them from the transmitter they don’t run and I’m kinda lost now. I’ve read a lot about how to connect the motors which settings to use, but nothing helps so far. The settings I’m using now are on servo output 1-Throttle left, 3-Throttle right, motor C and D are working on test, RC_MAP are 2,1,3,4 I’m using pixhawk 2.4.8 and transmitter Flysky FS-I6, and receiver FS-IA6B, using brush motors graupner SJ 700 BB turbo and ESC type I’m using: BrushedBiPolar
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@bersan1 wrote:
I just bought Kakute F4 V2 FC, I don’t know if it is a solid FC for ardupilot. I want to learn usable UARTs so checked the wiki page however, it is a bit confusing. How much UART is available and capable to use with telemetry/GPS? Thanks…
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@ronsand wrote:
I am tuning on my small hexacopter test platform and have a MOT_THST_HOVER value of 0.30 . I want to reduce the PSC_ACCZ_P value to be equal to MOT_THST_HOVER, but in mission planer I get a warning that the value is out of range when going below the default 0.50. Should I just lower it and ignore the warning?
Regards Ronny
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@Moksh wrote:
Hello everyone I need a help last few days i capture how it’s going on my city with my seabird 4k action camera but after my copter 10 - 15 m my camera wifi connection break down so I desite now I need camera trigger option , how to do that anybody help me ?
#Aliexpress Your Rs. 773.88 in coupons are here!
This is my camera
Thank you
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@woz0 wrote:
Hi everyone, i want to get telemetry from ardupilot and show these data in my gcs like arduino and xbee combination and getting it serial port. How can i get it ?(i dont want to use mission planer)
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@tschnoelzer wrote:
Hi Team,
we need to implement a new vehicle type as 4 rotor cyclocopter.
Here we have for each rotor 2 servos for thrust vectoring and amount, and one motor.What is the best way to build such a new vehicle type? And hints welcome.
Best
Timo
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@vosair wrote:
I’m considering using this ESC for a build https://www.getfpv.com/apd-f-series-40f3-6s-40a-32-bit-esc.html
The only thing is it says it supports Dshot300 to Dshot2400. Has anyone confirmed that it works with Dshot150?
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@JORGEJORGEJORG wrote:
Hello,
I am trying to perform object avoidance in SITL sending DISTANCE_SENSOR messages through mavros. I have configured 8 sonars for 8 sectors (separed 45º each). I enabled bendy ruler algorithm (OA_TYPE=1), but it does not work for me. What can I do to achieve my goal?
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@Racing4funn wrote:
I was told over at RCGroup to ditch Betaflight for Ardupilot because my quad is a large 850 camera type and I cant get it to fly right with Betaflight. I was told Audupilot supported my flight controller (Kakute f7 HDV) but looking around I cant see any talk around here about it.
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@madprof wrote:
I have a mission with 62 images flown in 2017, and used nearly every semester since as a classroom example of Geo tagging and using Pix4D mapper. I used a 3DR Solo with a GoPro 4 to take the images. This semester when I tried using Geo tag in MP, it did create GOPR0xxx_geotag.jpg files, but the message screen has a message “There was a problem with image” after each image and the geotagged images cannot be opened. Has there been a change in MP that would cause this error after it has worked successfully countless times using the same images and log file?
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@Ilya_Smolnikov wrote:
I don’t have a compass calibration, but it gives data when I bring a screwdriver. But I know that the compass sensor has a sensitivity setting. I don’t know how to do this; help is a problem for me. I am limited in means.
can use arduino, and configure, only I don’t know which command increases sensitivity
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@iSkyMaster wrote:
Inside Ardu pilot documentation at this link https://ardupilot.org/copter/docs/common-servo.html it says;
" AUX OUT 5 and 6 cannot be used by default because they are setup as [Relays]
These pins can changed to Servo outputs by setting the [BRD_PWM_COUNT] parameter to 6 and setting RELAY_PIN and to RELAY_PIN2 to -1.The RELAYPIN represents Aux 1, and RELAY_PIN2 represents Aux 2.
Is this a typo?
If we want Aux 5 and 6 to be PWM, shouldn’t we be changing RELAY_PIN5 and RELAY_PIN6 to -1?
Also, RELAY_PIN values such as;
49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 What do they really mean in terms of effect on Aux Pins? so if I set e.g. RELAY_PIN2 to 55, what will it do? And what in the world is BB Blue GP0?
Thanks
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