ArduPlane reverse thrust setup

June 10, 2017, 12:28 pm

≪ Previous: Rolling takeoff veering and log data

Hi,

I replaced the ESC in my Plane running ArduPlane 3.8.0beta5 to a BlHeli ESCs with reverse enabled. When I am in manual mode, I now have to center the throttle stick to get zero throttle, throttle stick up for full forward throttle and throttle stick down for full reverse throttle. Is it possible to configure ArduPlane that it behaves like a non reverse thrust setup? It should be not possible to use reverse thrust in manual and FBWA mode, throttle stick down = 0% throttle, throttle stick up 100% (forward) throttle. Reverse thrust should only be used in USE_REV_THRUST enabled flight modes until a level of THR_MIN percent (i.e. -20%).

Thanks and regards
Mirko

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Cannot configure Flight Mode 6

June 10, 2017, 12:54 pm

≫ Next: Twin motor/differential thrust with Ardupilot?

≪ Previous: ArduPlane reverse thrust setup

@flyingw wrote:

Hi,

I have experience with ArduCopter and am now configuring airplane with ArduPlane. My setup includes the latest Emlid Pi/Navio2, ArduPlane 3.7.1 and Mission Planner 1.3.48.

In my Flight Modes setup page Flight Mode 6 is greyed out and not configurable.

flight-modes-5.JPG743x337 55.2 KB

Why is that?

Thanks,

Paul

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Twin motor/differential thrust with Ardupilot?

June 10, 2017, 1:46 pm

≫ Next: Mixing roll and pitch channels for multi-rotor setup in plane mode

≪ Previous: Cannot configure Flight Mode 6

@marcmerlin wrote:

I have a twin motor plane I haven't flown yet.
I understand I can connect both motors to the same channel, and pretend it's a single motor plane, but that's kind of boring

@tridge talked about dual motor tailsitter support here
http://discuss.ardupilot.org/t/dual-motor-tailsitters/15302
so while my aircraft is not the same kind, maybe there is some twin motor support already in ardupilot?

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Mixing roll and pitch channels for multi-rotor setup in plane mode

June 10, 2017, 5:33 pm

≫ Next: Lidar ALT in FBWB

≪ Previous: Twin motor/differential thrust with Ardupilot?

@955E479 wrote:

Hi - I have a 4 propeller drives, setup as ailerons under fixed wing plane FW (APM V.3.7.1), and operating exclusively as a function of roll angle through channels RC5..RC8 (See Param file extract for min max rev trim).
RC5_DZ,30
RC5_FUNCTION,4
RC5_MAX,2000
RC5_MIN,1100
RC5_REV,1
RC5_TRIM,1200
RC6_DZ,30
RC6_FUNCTION,4
RC6_MAX,2000
RC6_MIN,1100
RC6_REV,-1
RC6_TRIM,1200
RC7_DZ,30
RC7_FUNCTION,4
RC7_MAX,2000
RC7_MIN,1100
RC7_REV,1
RC7_TRIM,1200
RC8_DZ,30
RC8_FUNCTION,4
RC8_MAX,2000
RC8_MIN,1100
RC8_REV,-1
RC8_TRIM,1200
When roll angle is =0 deg none of the motors is running, and otherwise speed varies within {0,Max} for motor groups 1&3 and 2&4 for roll>0 deg, and roll<0 deg respectively. The schematics below illustrates this.

This setup works basically fine for balancing DOF around Roll-axis. However, I noticed slight thrust differences between the active pair of drives, and which does lead to drift around the pitch axis. What I want to do is to account for the pitch angle in a first-order approximation to balance thrust between two simultaneously running drives.
E.g. if pitch <0 deg, motor 1 slows down relative to Motor 3 @ roll>0 deg, and motor 2 slows down relative to motor 4 in case of roll< 0 deg. A more general picture of all possible correction moves ("+"...speed up , "-"....slow down) in case of imbalance I consider is illustrated below.
1.2.png697x380 47.5 KB

My question to you would be whether it is possible to implement this sort of mixing with my FW, and if so, any hints on the available functions/settings would be appreciated.

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Lidar ALT in FBWB

June 11, 2017, 2:33 am

≫ Next: Another topic about pitot needed or not

≪ Previous: Mixing roll and pitch channels for multi-rotor setup in plane mode

@George_Muirhead wrote:

will FBWB mode use the lidar for altitude data? i want to use it for the minimum altitude.

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Another topic about pitot needed or not

June 11, 2017, 10:44 am

≫ Next: E-flight converge default file

≪ Previous: Lidar ALT in FBWB

@Andres_Abrego wrote:

Few pilots in my area discuss if the wind speed sensor is really needed or not for autonomous flight, i have been flying for almost a year more or less successfully without it, but i assume that it will be very helpful for special situations like landing or taking off.
Please give me arguments or experiences and recommendations.
Thanks in advance!

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E-flight converge default file

June 11, 2017, 5:53 pm

≫ Next: Pixhawk 2.1 Elevon Servo acting erratic

≪ Previous: Another topic about pitot needed or not

@rmackay9 wrote:

I've created a default parameters file for the E-Flight convergence that I flew on the weekend. This file is actually from Tridge who has also flown it.
github.com
ArduPilot/ardupilot/blob/master/Tools/Frame_params/EFlight_Convergence.param
#NOTE: Default parameters fro E-Flight convergence VTOL
AHRS_ORIENTATION,8
ARSPD_TYPE,0
BATT_CAPACITY,2200
BATT_MONITOR,4
BATT_VOLT_MULT,12
BRD_SAFETYENABLE,0
ELEVON_OUTPUT,3
FORMAT_VERSION,13
LIM_PITCH_MAX,3500
MIXING_GAIN,0.8
PTCH2SRV_D,0.02
PTCH2SRV_FF,0
PTCH2SRV_I,0.3
PTCH2SRV_IMAX,4000
PTCH2SRV_P,1.1
Q_A_RAT_PIT_D,0.005
Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_I,0.25
Q_A_RAT_PIT_P,0.3
This file has been truncated. show original
This can also be loaded using the Mission Planner's "Full Parameter List" or "Full Parameter Tree" page (look for a drop-down on the right side, select "EFlight_Convergence" and press "Load Presaved" button. By the way, you may need to load the file twice (or set the Q_ENABLE parameter to "1" before loading the file) in order to make the Q_* parameters visible.

Below are pictures of Tridge's setup.
eflight-top.JPG1671x940 553 KB

eflight-bottom.jpg940x705 198 KB

My group's setup was a little different, but like Tridge, we put the flight controller (we used an mRobotics Pixhawk1) on the bottom upside-down. Tridge put his telemetry radio in the vehicle's nose and then put the GPS taped to the bottom (see pic above) while we chose to put our telemetry ratio on the bottom, and GPS in the nose. Because of the GPS wires, we had to set the COMPASS_ORIENT to "2".

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Pixhawk 2.1 Elevon Servo acting erratic

June 12, 2017, 3:27 pm

≫ Next: Octaquadplane: power loss / yaw

≪ Previous: E-flight converge default file

@marvinlange wrote:

After pushing the safety switch my left Elevon Servo is constantly moving it was locking hard over switched to Opti ESC and separate Bec now it just sits thier and agitates but right wing is fine and if I switch wires the problem moves to other wing

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Octaquadplane: power loss / yaw

June 12, 2017, 5:15 pm

≫ Next: Deltawing // no servo response

≪ Previous: Pixhawk 2.1 Elevon Servo acting erratic

@Anthony wrote:

I'm seeing some strange loss of power in VTOL. I think I'm chasing a yaw problem where the vehicle is trying to correct some yaw error but I'd like to have somebody more qualified take a look.

I've checked that my motors are aligned and level

2017-06-12-bad-motors.png3046x810 51.2 KB

DF logs: https://drive.google.com/open?id=0B9UhUyOiU9LpcnF0ZHV1VFE0b1U

Any idea what could be causing this?

EDIT: adding yaw graph @peterbarker
(ATT.DesYaw isn't logged unfortunately, referenced as a bug here)

2017-06-12-yaw.png2664x742 16.2 KB

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Deltawing // no servo response

June 13, 2017, 6:12 am

≫ Next: Can't find ELEVON_OUTPUT param

≪ Previous: Octaquadplane: power loss / yaw

@Alex77 wrote:

Dear community,

i'm using a Deltawing (Tuffwing) with a Holybro "Pixhawk" and a FrSky X4R receiver.
ArduPlane 3.7.1 with MP 1.3.48.

The servos work properly if connected to the receiver (FrSky X4R) directly.
However when connected to the Pixhawk there is no movement at all even though signal input is visible in the MissionPlanner.

Arming request is disabled to prevent all the pre-checks. Blue main LED of ixhawk is on since there's no GPS signal inddors available.

I would like to check all servo movements coming from the transmitter (FrSky X9E) in manual Flightmode and also in higher stabilisation modes, checking if they are reacting on the planes movement.

What is wrong?

Thanks for your help.

Alex

IMG_20170613_145450.jpg2976x3968 3.08 MB
IMG_20170613_145531.jpg2976x3968 2.67 MB

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Can't find ELEVON_OUTPUT param

June 13, 2017, 11:00 am

≫ Next: After Autotune plane out of control at take off

≪ Previous: Deltawing // no servo response

@varkokonyi wrote:

Hi!

I'm trying to set up my flying wing, but I cannot find the ELEVON_OUTPUT param. I tried searching it with the "Find" option, no results. What am I doing wrong?

ArduPlane 3.7.1, M.P. 1.3.48

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After Autotune plane out of control at take off

June 13, 2017, 1:49 pm

≫ Next: Camera always triggered event not in mission

≪ Previous: Can't find ELEVON_OUTPUT param

@lucamax wrote:

I have a very little experience with planes and the plane is a little bastard, a 60 cm delta wing , Skywalker X1, 300 grams, the plane was flying well in FBWA even if turns were very very wide , 60 meters of diameters, so I did the Autotune , the value of Servo Roll P dropped from 0,85 to 0,388 while I remains to 0,07 .
I was able to land then disarm and change the battery.

At new take off the plane did not respond to aileron stick , all way to the right (I believe so but must say that I was in panic) and the plane went left and crashed on a tree out of control .

Is it possible that Roll P was so low that aileron command was too little ?
Thanks for looking at the .Bin file and help me to understand what happened.

32.zip (3.4 MB)

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Camera always triggered event not in mission

June 14, 2017, 6:22 pm

≫ Next: Camera Shutter always triggering in MP

≪ Previous: After Autotune plane out of control at take off

@aidil wrote:

HI all,
can anyone help to solve this problem.
i'm trying to triggring camera using Seagull Map2 for mapping.
The problem is when i'm arm my plane, the pixhawk always sending triggering signal to my camera event not in auto mission.

here is my flying log..

https://lookaside.fbsbx.com/file/2017-06-14%2010-21-01.log?token=AWwfR4TuLQ4_Og1p9bRRZ7Ze_xYbvOR_R4zAnqJlWJC-WnCVYCDanSw5Dc3Ljn57dqfMzcwuivI000Yid2W6_9tns-ELoubjFQY3qYclwrXNMez7MQ-lQl4Noc_Jq4fQZTtGwQodiVHr3bm6S7m5O2vKcf5GbjAuYX1DWz46pU5fPC9LTuN7yBvn_rOKLpm6ZJ8

anyone please me

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Camera Shutter always triggering in MP

June 14, 2017, 9:36 pm

≫ Next: Pixhawk 2.1 Not Motor RPM untill 35 to 40% throttle on Stick

≪ Previous: Camera always triggered event not in mission

@aidil wrote:

Hi all,
I have a problem to use camera shutter in MP.
I'm using Seagull MAP2 to convert servo signal to sony RX100 signal to triggering camera.
After i set the shutter channel (i'm using RC7) and set the others paramater to triggering camera where 1700.
After that the signal from shutter (rc7) always 1700 and triggering the camera without stopping.

is that any bug or my own false setting?

im using arduplane 3.7.1

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Pixhawk 2.1 Not Motor RPM untill 35 to 40% throttle on Stick

June 15, 2017, 2:17 pm

≫ Next: SF11 Lidar working over I2C w/ 3.7.1?

≪ Previous: Camera Shutter always triggering in MP

@marvinlange wrote:

For some reason my Motor dos not start spinning until after 35 to 40% on Stick
Things I have tried
2X Calibrate Radio
3X ESC Calibration using this Method https://www.youtube.com/watch?v=Hl-Q7RPOn18
Check Fail Safe Settings and set Fail Safe Works
Not sure what to try next.
Thanks in advance for any help

Short Video of Issue

LOG FILES

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SF11 Lidar working over I2C w/ 3.7.1?

June 15, 2017, 5:56 pm

≫ Next: Failsafe turns off engine

≪ Previous: Pixhawk 2.1 Not Motor RPM untill 35 to 40% throttle on Stick

@CJ_ASW wrote:

Due to I2C sonars no longer working on the second I2C bus of Pixhawk 2.1 (https://github.com/ArduPilot/ardupilot/issues/5831), I just purchased Lightware SF11 lidar units for my planes. I set them up using instructions here: http://ardupilot.org/plane/docs/common-lightware-sf10-lidar.html

However I am getting no rangefinder readings at all with these settings. I tried multiple planes, multiple SF11's, double checked my connectors, double checked settings, connected direct to I2C port and tried splitter (my airspeed sensors work fine). Does anyone have Lightware units working on I2C with pixhawk 2.1?

It seems some folks in the Copter section have things working so I posted this here instead of PH2.1. Thanks.

My setup:
PH2.1
AP3.7.1
MP1.3.48

SF11_I2C_screencap.jpg735x544 95.7 KB

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Failsafe turns off engine

June 15, 2017, 8:00 pm

≫ Next: When I add variable in ardupilot, firmware can not be passed compilation

≪ Previous: SF11 Lidar working over I2C w/ 3.7.1?

@junsonic67 wrote:

I have an APM2.8 this is configured plane v3.7. When I execute the failsafe on ground I turn off the Rt transfer to RTL there all things OK but it turn off the engine. I changed some parameters and do the same behavior. The test is done in STABILIZE by turning off ground control. Please help.

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When I add variable in ardupilot, firmware can not be passed compilation

June 16, 2017, 2:46 am

≫ Next: Near fly-away. Altitude problem

≪ Previous: Failsafe turns off engine

@fightinghui wrote:

Now I plan to use RC6 to switch on/off a servo. I try to add variable in https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Parameters.h. I have created a file and add some subfunctionsin ArduPlane.
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However my firmware can not be passed compilation. Is there something wrong with it?
I'm looking forward your reply.Thanks a lot.

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Near fly-away. Altitude problem

June 17, 2017, 12:00 am

≫ Next: CG and Autolanding with retractable gimbal

≪ Previous: When I add variable in ardupilot, firmware can not be passed compilation

@dellarb wrote:

Had a scary near fly-away today flying ArduPlane on a X-UAV Talon air-frame. Setup is Pixhawk 1 with usual GPS, Compass, I2C Airspeed, PM and 900Mhz telemetry. Talon has flown many missions with no problem and flew a 45 minute flight right before this one.

Launch was an auto take-off thrown by hand but after a few seconds the altitude read out dropped to 0 yet the plane kept executing a full power climb and was visually clearly climbing normally. As the altitude was near 0 the take-off waypoint didn't complete so the plane went shooting off over houses. Eventually managed to switch to RTL to get it to navigate back but could not stop the full power climb (by the time it was back, it was too high for RC take-over)

Remembered that there is a alt_source parameter which I could adjust to use GPS as alt source which worked (final climb altitude once I switched to GPS was 887 metres!) Airspeed read out seemed to not make sense either at this stage.

Once altitude was valid I could get it to descend and managed to land intact which was a relief. After many checks of everything couldn't re-produce problems on the ground and did another flight afterwards which worked normally.

Have attached both logs below, really keen to identify if this was a sensor failure, driver issue, EKF issue as it was pretty scary.

(Note that the t-log has two UAV in it as this flight was intended to be a test of some docking approaches. You can ignore the quad-copter on the ground as we never armed and took off as were focused on the main fixed-wing)

BIN Log
https://nextcloud.westcoastuav.org/index.php/s/9RrHNmqC0lX19iK/download

Tlog
https://nextcloud.westcoastuav.org/index.php/s/H9nPibmIUSeJ4O4/download

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CG and Autolanding with retractable gimbal

June 17, 2017, 11:28 pm

≫ Next: Baro Alt /w Airspeed Sensor // differs from Take-Off to Landing by 15m

≪ Previous: Near fly-away. Altitude problem

@Captain wrote:

Hi

We are using a retractable gimbal, the retract weight is like 400g near the CG. The difference between non retract and retract result a slight nose heavy. We will do auto tune when the gimbal is out as it will be 90% of the time. But will it affect the auto landing? As the plane will be a little bit nose heavy when the gimbal is inside. And what should we do here?

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