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What happens if I run Pixhawk 1 f/w and not Pixhawk 1 1M, on a 1meg Pixhawk?

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@pauljatherton wrote:

I finally managed to upgrade the FW on my Pixhawk 1 using QCG, (latest version of MP makes it impossible for me to upgrade it on a Mac) and my hexacopter flew fine on this firmware (4.0.3). I just spotted a 1M version of this firmware in the firmware list in QGC, and indeed my Pix is one with the 1meg issue, so I am guessing I should put the 1M firmware on it. What is the risk if I don’t put the 1M firmware on a 1M Pixhawk?

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ArduCopter on performance multirotors

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@tenten8401 wrote:

Does anyone have any experience using ArduCopter on performance quads? Is there something in how it works limiting it’s usability on race/freestyle quads? My experience so far has been pretty poor just trying to get my quad to even be what I’d call acceptable, and I don’t see anybody really using it and just wanted to know if there’s a technical reason why. Is the filtering not up to what you’d expect out of something like Betaflight? Is the pid loop just too slow? Is autotune just not that good for high power to weight?

I’ve messed with manual tuning too but just cannot get it to fly well. Is this just a lack of tuning skill that I have or something more technical? KISS only runs at 1khz loop rate and people say it flies amazing (I personally have not tried it) but surely it’d be possible to get something similar out of arducopter? Is the pid loop that different?

I may try it again on a different build when I get the chance. I know manual flying isn’t the focus of the project at all but I’m interested to hear what your thoughts/experiences are.

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TFmini on i2c setup?

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@vosair wrote:

Hey everyone. I’ve done everything in the wiki for setting up a TFmini on i2c. I can’t get the flight controller to see it. I’m guessing the address isn’t set correctly on the FC or on the TFmini? Has anyone figured this out? Thanks!

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Unusual behavior of altitude control in Loiter mode

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@wolke wrote:

Hi,
my drone behaved very oddly in Loiter mode today. The altitude control no longer followed the throttle in the expected manner.
See the log file:

Logfilelink on Google Drive:
https://drive.google.com/file/d/1drYjfuXJsEmbZbFWL43GIFCLOFsPtIGR/view?usp=sharing

To see clearly in the picture, the drone is sinking or rising although rcin.c3 (throttle) is set to 1500. moving the stick up or down changes the sink or climb rate. in the moment that feels very unusual on the control unit.

So far, this drone has not behaved like this.
But this behavior has also occurred with another drone but has not yet been reproduced. Today it occurred in one flight all the time so that I have this log file available.

Ideas welcome:)
thx
wolke

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Bad Battery message

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@us086b wrote:

Hello everyone, after update from MP 1.3.70 to 1.3.72 I have permanent message on the HUD “Bad Battery”. Battery itself is fully charged and connected to POWER2 (Cube Black, AP 4.0.5). Short cable is a reason to use POWER2 instead of POWER1. BATT_MONITOR is disabled. BATT2_MONITOR=4. The same message is blinking as well when connecting via USB. Is it made intentionally or bug? Could someone suggest the way to suppress the message?

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Flying a copter at 17k ft

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@vosair wrote:

Hey All,
I’m looking for advice on high-altitude flying. According to ecalc our aircraft should manage just fine, but I know real world conditions can be quite different. Our aircraft uses 13" props and has an AUW of 3.2kg.

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Altitude Initialization

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@bposehn wrote:

I have seen consistent differences between an inputted AGL (above ground level) value when producing waypoints and output from laser rangefinder (Lightware SF11/C) during a flight, which are on the order of about 20m. I am suspicious that this error may be coming from an altitude initialization occurring before takeoff.
I am wondering if / how an altitude initialization occurs and possibly where it occurs in the ardupilot source code? I have been trying to look through it myself but have had no luck.

Thanks,

Brendan

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Can someone check my log

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@rickyg32 wrote:

Would someone be so kind as to have a look at this log.
Heres the background. I had crashed this drone and after repairing it I was doing my second test flight.
I got a GPS lock and took off. I flew about 12 or so minutes. I suddenly got this strange feeling to put my fingers on the Flight mode switch…it was flying in Poshold. The winds where high and it was fighting them well. But this odd feelign came over me and so I grabbed the switch and waited. Suddenly the green status LED turned yellow and the wind started to carry the drone away.
I switched to stabilize and landed. No damage all looked good.
Oh and I had a battery checker plugged in to see how long the 10000mah would last before having to land.
I saw 3.9 per cell when it landed.
I am puzzled by this…and suck at log reading.
So any input would be appreciated.


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Scope and Syntax of SITL Instructions among ArduPlane, Jsbsim, Flightgear

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@Albcem wrote:

Could someone be kind enough to explain how ArduPlane, Jsbsim and Flightgear interact in a SITL simulation?

Is MavLink the only outbound and inbound instruction language for ArduPlane?


Here is what I think is going on, but I would like someone to confirm as it may shed light on an underlying issue that I am trying to solve.

At each instance of the simulation time loop,

  • ArduPlane sends instructions at control surface and/or servo level to JSBSim or whatever DFM there is.

(What do these intstructions look like, how can I track them down?)

  • JSBSim / DFM adjusts the vehicle control surfaces. Then it runs the aerodynamics and 6 degree of freedom body dynamics calculations and obtains a new vehicle attitude, displacement, velocity and rotation rates.

(What do these intstructions look like, how can I track them down?)

  • JSBSim / DFM sends the new state information to ArduPlane and potentially to a Flight Simulator (i.e. Flight Gear) which update the vehicle position and attitude in the global coordinate system.

REPEAT ABOVE

I use ArduPlane, Jsbsim and Flightgear for SITL and simulations run smoothly, but without any control surface movements. This used to be an esthetical concern, but now I need to visualize things for debugging purposes.

So I am trying to track down what servo or control surface instructions arrive at JSBsim or Flightgear, so that I can map them to control surface positions within FlightGear. So far, I only see the throttle values updating and the vehicle flies as expected - which confirm that instructions are arriving and the loop is healthy…

I tried to track down what the ArduPlnae instructions for aileron, elevator and rudder or rc1, rc2, rc4 look like using a linked Mission Planner, but the effort has been fruitless.

There is absolutely nothing broken in the way SITL works and my pain point is the inability to see the type and syntax of the instructions that flow among the 3 software packages (4 with the mission planner). I tried to utilize and play with an old protocol Mavlink.xml that @Tridge had prepared for HIL with Flightgear, but it doesn’t seem to change anything (https://ardupilot.org/dev/docs/flightgear-hardware-in-the-loop-simulation.html). Clearly it is for HIL, not SITL…

Any insight would be greatly appreciated. I will contribute what I learnt and was able to implement with success on wiki pages.

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RC input to stop motors for Parachute

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@WoofyBunny wrote:

I am using an autonomous trigger system (via fruity chutes) to trigger release of a parachute on a quadcopter running Arducopter 3.5.5. I am doing this to ensure parachute deployment in the event of loss of power. However, in case something goes wrong in flight while power is still available to the Autopilot, I still want the parachute to deploy. When the parachute deploys, i need the motors to stop to prevent the chute lines from getting tangled or cut by the props. To top it off, I don’t have access to channel AUX I/O 1-6. (my AP is of a custom design and I foolishly disregarded routing those inputs.) I figured I could still some how have a PWM input cause the AP to trigger parachute release / Emergency Motor stop.

Is there a way to trigger parachute release or emergency motor stop via a PWM signal without having access to the AUX I/O?

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Dev Call June 15, 2020

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@CraigElder wrote:

Issues & Pull Requests



















New log analyzer

GSOC

Plane

Copter

Rover

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SkyViper updates

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@Dude wrote:

Matt M or anyone from SRT. Will we see upgraded products or code this season? The incorporation of the surface scan was a nice feature for the non-GPS models. What might be next?

Thanks for anything you can share

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Sending and Receiving User Defined Messages using Dronekit

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@Mustafa_Gokce wrote:

Hi.
I have a setup contains a computer, a raspberry pi, a flight controller, and 2 telemetry modules.
I would like to send and receive user-defined messages (for example “Hello World”).
The sender will be raspberry pi and the receiver will be computer.
Inside the aerial system, telemetry module, and raspberry pi connected to flight controller on serial telemetry ports.
On the GCS, the telemetry module directly connected to the computer.
How can i send this message from raspberry pi to the computer?
Is there an example (preferably using dronekit)?
Thanks…

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Crash cause: perhaps due to loose battery?

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@Sunny52266 wrote:

Hi, I had a crash today. Attached is the log file and a screenshot of the flight data.


The only reason I can come up with is that the battery was loose and it slid backward causing the PID.I to gradually increase.
It first happened within RTL and the plane lost altitude and the PID.I increased to compensate for the effect or the battery slid back to its place in extreme front of the plane. The second time it again happened in RTL but this time it was unable to recover.

I need confirmation whether my reasoning is correct or not?

https://www.mediafire.com/file/8bqby5rap2noo9u/2020-06-16_08-21-53-anon.log/file

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VTOL Position and Velocity control

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@Rui_Loureiro wrote:

Hello all,

Currently im testing a VTOL integration on mavros using a custom version of gazebo that supports Ardupilot quadplane.

Could anyone tell me if the Position control and speed controls are implemented in quadplane firmware?
The code works for ArduCopter but not for ArduPlane Quadplane aparently…

Here are the portions of code:

void nav_local_pos_setpoint(geometry_msgs::Point point)
{
float ref_quaternion[4];
geometry_msgs::PoseStamped local_setpoint;
ros::Rate rate(4);

local_setpoint.pose.position.x= point.x;
local_setpoint.pose.position.y= point.y;
local_setpoint.pose.position.z= point.z;
mavlink_euler_to_quaternion(0.0, 0.0, 0 , ref_quaternion);
local_setpoint.pose.orientation.w =ref_quaternion[0];
local_setpoint.pose.orientation.x =ref_quaternion[1];
local_setpoint.pose.orientation.y =ref_quaternion[2];
local_setpoint.pose.orientation.z =ref_quaternion[3];

pub_pos_setpoint_local.publish(local_setpoint);

/*while(1)
{
    if( (cp_local.pose.position.x<(point.x+raio)) && (cp_local.pose.position.x>(point.x-raio)) &&
        (cp_local.pose.position.y<(point.y+raio)) && (cp_local.pose.position.y>(point.y-raio)) &&
        (cp_local.pose.position.z<(point.z+raio)) && (cp_local.pose.position.z>(point.z-raio)) )
    {
        break;
    }
    rate.sleep();
    ros::spinOnce();
}*/

}

void nav_local_vel_setpoint(geometry_msgs::Point point, double theta_ref )
{
geometry_msgs::TwistStamped local_setpoint;

local_setpoint.twist.linear.x= point.x;
local_setpoint.twist.linear.y= point.y;
local_setpoint.twist.linear.z= point.z;
local_setpoint.twist.angular.x = 0;
local_setpoint.twist.angular.y = 0;
local_setpoint.twist.angular.z = theta_ref;

pub_vel_setpoint_local.publish(local_setpoint);

}

Thank you for your time

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Notice of recruitment regional or exclusive agent for Benewake

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@Alice777 wrote:

Hey Here,

We are sincerely looking for the regional agents worldwide. The agents should qualified for the following requirement:

  1. We have the simiar market and it would be great if you had some potential customers in our LiDARs’ main application:
    Benewake’s LiDAR sensors are widely applied in silo level monitoring( level measurement), smart parking, drones(altitude holding and assisted landing), autonomous vehicles (collision avoidance),intelligent transportation system, robots, AGV (logistics and warehouse management),perimeter security and IoT etc.
  2. Develop and visit the local customers independently in the distribution territory.
  3. Own technical support team (optical sensor preferred) and could provide the basic technical support for the end user.
  4. Expend the local market and complete the annual sales target with Benewake team.

We could provide the supports as below:

  1. Various product line, Benewake has released short range, medium range, long range,low-cost and solid-state LiDARs.
  1. Competitive profit margin, we can discuss the details via email later.
  2. We will provide necessary technical training regularly if needed.
  3. The huge growth space, with the vigorous development of IoT, we believe LiDAR technology will be more and more widely used.
  4. In region not covered by Benewake sales, we can consider setting up the exclusive agents.

Don’t hesitate to contact us via Email: marketing@benewake.com if you have interesting to be an regional agents/ exclusive agents of Benewake.

We are warmly looking forward to work with your guys together, also hope to establish the long-term and win-win cooperation relationships in the near future. Thanks for your attention.

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Copter-4.0.4-rc2 available for beta testing

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@rmackay9 wrote:

Copter-4.0.4-rc2 has just been released for beta testing and can be installed with MP or QGC’s beta firmware link.

The changes vs 4.0.4-rc1 are listed in the ReleaseNotes and also copied below.

  1. Bug Fixes:
    a) Watchdog monitor memory increased (may have caused watchdog reset)
    b) Compass ordering fix when COMPASS_PRIOx_ID is 0
    c) Hex CubeOrange 2nd current sensor pin correction
    d) Hott telemetry fix
    e) Lightware I2C driver fix when out-of-range
    f) MatekF765-Wing voltage and scaling fixed
    g) MatekH743 baro on I2C2 bus
    h) Proximity (360 lidar) ignore zone fix
  2. Flight controller support:
    a) Bitcraze Crazyflie 2.1
    b) CUAV Nora V1.2
    c) Holybro Pix32v5
    d) mRo Pixracer Pro
  3. Minor enhancements:
    a) Benewake RangeFinder parameter descriptions clarified
    b) Pre-arm check of attitude ignores DCM if multiple EKF cores present

A number of these fixes come from issues raised by Beta testers so we really appreciate the help you give us by flying these beta versions.

All feedback positive or negative is more than welcome. Feel free to post below or create a new thread and prefix the title with “AC4.0.4” (or something similar). Thanks!

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Arduplane waypoints in mission planner 1.3.72

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@jsalvador wrote:

Hi,
If the drone is not connected I’m not able to add fixed wing waypoints in the plan tab such as loiter to alt or do land start, is there anything that I’m missing in the configuration tab? That wasn’t a problem in previous versions.
Thanks,
Jordi

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Recharge Batterie personnalisé

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@Ngilles wrote:

Bonjour je voudrais savoir si il est possible de recharger des batteries Li-Po passive sans les enlever du drone, via par exemple des contact permanent j’entends par cela le même système que sur les aspirateurs automatiques qui viennent ce coller à leur borne et ils se rechargent seulement via le contact. Cette recharge sera bien entendu contrôlés par un BMS pour ajuster la charge des batteries Li-Po.
Je résume, j’atterrie avec mon drone je viens le coller à cette borne de recharge et je charge les batteries dans les enlever du drone.

GILLES Nathan

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Cannot takeoff with optical flow enabled in SITL

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@Shubh wrote:

Hi, I am performing a SITL simulation for Arducopter in GPS denied environments. I have setup Gazebo with SITL.

I am using optical flow sensor along with rangefinder in substitue of GPS. I have disabled GPS Pre-Arm checks and I am able to arm the throttle but the copter does not takeoff giving an error msg shown below.

Got COMMAND_ACK: NAV_TAKEOFF: FAILED

These are the parameters that I have set.
AHRS_EKF_TYPE = 3 (Enable EKF version 3, 2 is set by default)​
EK2_ENABLE = 0 (Disable EKF2)​
EK3_ENABLE=1 (Enable EKF3)​
GPS_TYPE = 0 (Disable GPS)​
EK3_GPS_TYPE=3​
AHRS_GPS_USE=0​

For adding a Rangefinder set the following parameters:​

SIM_SONAR_SCALE 10​
RNGFND1_TYPE=1​
RNGFND1_SCALING=10​
RNGFND1_PIN=0​
RNGFND1_MAX_CM=5000​
RNGFND1_MIN_CM=0​
EK3_ALT_SOURCE=1 (Use Rangefinder as altitude source for EKF)​

Adding Virtual Optical flow sensor:​

SIM_FLOW_ENABLE=1​
FLOW_TYPE=5

I want to know whether I have mis-configured something? It does not take off in Loiter or Stabilize mode.

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