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Roll/pitch parts from desired roll/pitch, causing crash

November 13, 2018, 2:51 am
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@krisgry wrote:

Hi,
We had a crash last week when flying with AP 3.7 on a pixhawk 1. I’ve looked into the logs and think that I have found a sign of what caused the crash, so now I hope that someone perhaps can provide me with some insights on why/how this happened and how it can be fixed (or if it has already been fixed).

Here is the log: https://www.dropbox.com/s/pvt77vke4yjttpi/225.BIN?dl=0

A note on the setup: We are testing some guidance controllers from an external single board computer that sends desired roll/pitch/throttle to arduplane, using GUIDED mode, but I believe (or hope?) that this is unrelated to the crash.

The UAV (Skywalker X8) was flying straight, when it suddenly started rolling to the right. The pilot tried to take control of the UAV, by going into MANUAL mode, but felt that this had no effect on the UAV (he then flipped the mode switch back and forth, in an effort to regain control of the UAV, which is reflected in the rapid mode changes towards the end of the log). Fortunately, the crash was quite soft, and the only thing that needed replacement was a bad servo.

From the logs I see that roll/pitch follows the desired roll/pitch up to about line 857500 in the log, but then they separate. My interpretation is that the roll/pitch grows in magnitude (for some unknown reason) and that the desired roll/pitch then try to compensate for the growing error in the path following.

After the crash, the UAV started responding again after the serial between the pixhawk and the single board computer was unplugged. Also the faulty servo moved. When the UAV was put in STABILIZE and tilted from side to side, the response on the ailevons was extremely low compared to normal (a factor of 5 lower, or so).

What could be the cause of this all? Is it as simple as a servo being faulty, or are there any other possible explanations? Could it in some way be related to “jamming” of the serial link from our single board computer to the pixhawk?

Appreciate any input and thoughts you may have!
Kristoffer

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Does SITL support simulating reverse thrust?

November 13, 2018, 7:53 am
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@jonathan84clark wrote:

If I turn on reverse thrust (set THR_MIN to -100%) the simulated aircraft simply starts armed and taking off. And on landing it’s speed is much higher. Is reverse thrust simulated?

I got a response on a GitHub defect that I incorrectly used to ask this question. It says:
“reverse thrust is simulated. You do need to start the SITL model with
“-revthrurst”, however.”

Unfortunately when I tried this the simulator complained that option -r is not supported.

Thanks,

Jonathan L Clark

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PreArm Check Error : Gyros inconsistent

November 14, 2018, 5:55 am
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@victole wrote:

Hi guys,

I have a Pixhawk from Radiolink and always in every first attempt of armed I get the error “PreArm: Gyro Inconsistent”.

The most strange thing is that i’m using only the external gyro+compass. i disabled the internal to avoid this issue. Also

  • I tried to recalibrate the gyros at least 5 times.

  • I changed the firmware version from the latest to the 3.8.53 because i have a friend with the same board and he does not have issues with this firmware version.

But i have the same behavior

If i disconnect the battery and connect it again on second time the pixhawk arm without any issue.

Wondering if it could be a good solution to disable the INS pre check. Or try disabling SKIP_GYRO_CAL

some help will be very welcome

Thanks in advance

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QGround Control, Firmware, etc

November 14, 2018, 5:18 pm
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@Guytranspo wrote:

Hello. I’m a little confused and hoping someone can help.
I’m starting a VTOL Tilt Rotor project and an trying to follow QuadPlane and Tilt-Rotor docs, but it doesn’t make sense when I look at the Parameters in QGroundControl. I flashed the latest PX4 Flight Stack and accessed the Pixhawk with QGC. I selected the Firefly 6, and everything seems to be going well, but the parameters do not resemble the parameters dictated in the docs. The docs mention “Q_Enable” and other Q_ references, and I don’t see them.
Am I doing something wrong?
I’m thinking that it is my confusion between Pixhawk and Ardu.
I am totally new to Pixhawk, Ardu, etc. I have worked with Eagle Tree Vetor and iNav, so I know that i am capable. I might just need some hint.
Thanks

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Omnibus EKF Errors using MP 1.3.59

November 15, 2018, 2:03 pm
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@RANND wrote:

Omnibus F4 Pro V2 running ArduPlane V3.10.0-dev (9cd62e81) works OK with MP 1.3.58, but gives EKF errors with MP 1.3.59. Proved the fault by downgrading to MP 1.3.58. I will look for the appropriate forum to log the issue.

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USB log file download speed

November 15, 2018, 7:39 pm
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@Verloop wrote:

We are flying long survey missions for gas pipeline inspection.

A typical flight last 45 to 60 minutes, which creates a log file between 200 to 300 megabytes.

The pixhawk cube we use is fixed inside the plane and not easy accessible. So we mounted an external USB connector, connected to the pixhawk USB connector (next to the I2C connector) so we can easily connect the pixhawk to a PC to download the log file.

Unfortunately it takes very long time, 200 MB takes around 12 minutes.

Even increasing the baud rate doesn’t seem to make any difference. Also connecting to the standard USB port on the side doesn’t speed thing up. No matter what baud rate we set, it is always taking the same time.

Are we doing something wrong?

PS: we also tried upgrading to Chibios, no improvement.

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Tailsitter Transition

November 16, 2018, 8:36 am
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@Jawnv71 wrote:

I’m working on a tailsitter and the issue is the loss of altitude during transition. Does the “automatic” transition, like in quadplanes, work on tailsitters? The windspeed indicator would be a trick, but I have some ideas for that. Has anyone tried? Thanks!

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Logs files size, very large!

November 17, 2018, 5:35 am
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@tucuman79 wrote:

My file logs size in Pixhawk 2.1 (the cube) are about 80MB for 30 minutes flight. I thought this was normal but a frind of mine told me his log files are never bigger than 5MB. My parameter LOG_BITMASK=65535.

Any suggestions? Thanks!

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LAND Flight Mode (Selection) for ArduPilot in Mission Planner 1.3.59

November 18, 2018, 12:16 pm
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@jstarch wrote:

I am currently configuring ArduPilot Flight Modes using Mission Planner 1.3.59.
In the DropDown List for the ‘Flight Mode Selection’ I do not see the LAND feature.
Question: Is there a LAND feature still available (autoland) like what I read about in the documentation? All I see is a QLAND selection - which I presume is for a QUAD COPTER type craft.

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Where i can download sourse code?

November 19, 2018, 3:21 pm
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How to set Aux1- Aux4 for servo control

November 20, 2018, 11:58 pm
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@Natapato wrote:

Hi,

I’m trying to control servo from servo tab in mission planner but no luck. I’m not sure that I accidentally set wrong parameter and this might turn this function off. In mission planner status tab show 0 even I try to set High and Low it make no difference. I set RC passtrough it still show 0.
arduplane 3.8.5

plane385.zip (4.5 KB)

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Pixhawk 4 with PingRX ADS-B Receiver does not work

November 22, 2018, 10:42 am
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@KadaverJoe wrote:

I am using a Pixhawk 4 with ArduPlane 3.9.1 installed and connected my PingRX receiver to the Telem2 port.
In the configuration tab I set up SERIAL2_BAUD to 57 and SERIAL2_PROTOCOL to 1.
I also enabled ADSB_ENABLE and rebooted the Pixhawk.
Before I switched to the Pixhawk 4, I used a Pixhawk with the PingRX and it worked flawlessly. Now with the Pixhawk 4, I see the LED is blinking when planes are in the near, but I cannot see any planes in Mission Planner (1.3.60).
Does someone have an idea what is wrong with my setup?

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I can not use APM 2.8 with Analog servo EMAX ES3003 17g

November 22, 2018, 12:37 pm
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@zaferguler wrote:

I could not use In my plane the this servo with APM 2.8…There is no any reaction…On the ground it was not clean it works or not…but in the air the plane immediately crashed during every I try… why?

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I use wolfbox 433 hrz long distance reciever and tx on mu FlySky 9x radio control..PPM problem

November 22, 2018, 12:43 pm
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@zaferguler wrote:

Hi ! I use Wolfbox long distance tx rx with my FlySky 9x radio control. How can fix or setup PPM directly on the Pixhawk? I contacted from board to PPM pin of the wolfbox receiver but unfortunately I forgat how can I setup on the radio control PPM as control servo1 and 3 and throttle? I activated PPM also…Does anybody know? ar support me?

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How does one set the PITCH of Fixed Wing to LEVEL while on the bench?

November 23, 2018, 12:52 pm
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@jstarch wrote:

I have a PX4/Pixhawk in a FIXED WING.
I am using Mission Planner …
I need to SET Level (Pitch & Roll) AFTER the AutoPilot has been placed in the Plane (with the plane on the bench and PITCH and ROLL of the plane truly level.
How do I do this?

Although the AutoPilot was ‘leveled’ on the bench outside of the plane by a previous individual, I now need to ‘tell’ the AUTOPILOT what the LEVEL is when the plane is LEVELED on the Bench (Pitch and Roll).

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Quadplane Transition Left Turn

November 24, 2018, 8:37 am
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@ardisd wrote:

Recently I have been having a problem with my quadplane (Tilt Motor Design) during transition to FBWA the plane will make a hard left turn. This happens even if the plane starts off pointing into wind. The logs show the front right motor appears to be at full power during transition. The plane hovers, flies in FBWA and transitions back to Hover really well. Can anyone give me any idea what is going on.

Log file of one flight last week

David Ardis

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HELP! Unknown reason for plane crash

November 25, 2018, 6:11 pm
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@uavdlsu wrote:

Hi! Can anyone help me figure out the cause of our plane crash last Monday? We were testing our custom flight mode on a new airframe (1880mm Skywalker). Our custom flight mode was initially tested on a Bixler frame and we did not have any issue like this. The first trial went well but in the middle of the 2nd trial, the Skywalker tried to reach the target altitude but it inverted its position during the process. Then, we switched to Auto mode to regain the proper attitude of the plane and it did. However, after reaching the 3rd waypoint, the plane suddenly decreased its altitude and crashed to the building.

Attached are the logs for the flight. Thank you. We appreciate any input for this issue.
https://drive.google.com/file/d/1_9mSum7IMgv8tKSCmEwL0HL2xSVzYn5B/view?usp=sharing

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Arduplane mavling pitch with Storm 32 bug?

November 26, 2018, 8:40 am
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@JeyPi wrote:

I do not know if that is a bug. Not many people are using mavling during an Arduplane Auto mission where there are ROIs determined for the Storm 32 controller aiming the SBG.
I am using mavlink to have the Pixracer communicate with the Storm 32.
If I set these parameters like this:
MNT_ANGMIN_PAN = -18000, MNT_ANGMAX_PAN = 17999
MNT_ANGMIN_ROL = -6000, MNT_ANGMAX_ROL = +6000
MNT_ANG_MIN_TIL = -9000, MNT_ANG_MAX_TIL = +9000

My camera points too low.

I have to adjust the parameters like this to have the camera point with the right pitch:

Storm 32 Pitch settings:
‘Rc Pitch Min’ => 120.0 °
‘Rc Pitch Max’ => -90.0 °
‘Rc Pitch Offset’ => -49.0 °

MNT_ANGMIN_PAN = -18000, MNT_ANGMAX_PAN = 17999
MNT_ANGMIN_ROL = -6000, MNT_ANGMAX_ROL = +6000
MNT_ANG_MIN_TIL = -11000, MNT_ANG_MAX_TIL = +11000

I always set the ROI altitude relative to the height of the flight. If the plane is 100 m above the ground circling the ROI, the ROI altitude is set to 0.
To have the camera actually point with the right pitch, I need to adjust the Storm 32 pitch offset in the Storm 32 gui. That way it uses a good pitch angle if I am 100 meters above and away from the object, but the further the plane is, the more is the camera looking up in the sky.
Is this supposed to be a bug that the arduplane is sending wrong mavlink data to the Storm 32?

Version
Arduplane 3.8.4
Storm 32 v0.96
Platform
Plane
Airframe type
Motorised glider
Hardware type
Pixracer,
Logs
Will add one if needed. This situation is easily reproduceable

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Tiltrotor plane tricopter - no tail motor or servo working for yaw?

November 27, 2018, 3:20 pm
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@martinlta wrote:

I am setting up a bench test of tilt tricopter plane.
Motor 1 and 2 working and tilt servo responds to Q stabilise but no response for motor 4 as tail motor and no response of the tail yaw servo. (No response in the servo output menu).
Should the yaw servo be controlled by the rudder tx output in manual mode?

Arduplane 3.9.3 on pixhawk

settings

Q_ENABLE 1
Q_FRAME_TYPE 1
Q_FRAME_CLASS 7 (“Tri-Motor Tilt Plane”)

Q_TILT_MASK 3
Q_TILT_TYPE 0
Q_ASSIST_SPEED 0
Q_TRANSITION_MS 0

SERVO1_FUNCTION 4 (Aileron)
SERVO2_FUNCTION 19 (Elevator)
SERVO3_FUNCTION 0 (disabled) or 70 (Throttle)
SERVO4_FUNCTION 21 (Rudder)
SERVO5_FUNCTION 33 (Motor 1 = ESC right motor)
SERVO6_FUNCTION 34 (Motor 2 = ESC left motor)
SERVO7_FUNCTION 0
SERVO8_FUNCTION 36 (Motor 4 = ESC rear motor) -not working?
SERVO9_FUNCTION 0
SERVO10_FUNCTION 0
SERVO11_FUNCTION 39 (Motor 7 = tail servo for yaw)
SERVO12_FUNCTION 41 (Motortilt = Front motor tilt servos) - not working?
SERVO13_FUNCTION 0
SERVO14_FUNCTION 0

thanks
M

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Vectored yaw tiltrotor question?

November 28, 2018, 6:15 am
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@lowlyelevated wrote:

I have a question (or maybe suggestion for the devs?) about how the vectored yaw feature of the tilttotor code works.

If I’m understanding things correctly, for vectored yaw to work, the tilt mechanisms MUST be able to travel some distance past 90 degrees, or rather, some distance past vertical. Then, when using vectored yaw, both servos move equivalently to each other in opposite directions. One tilts forward while the other tilts back to induce a yaw movement.

My question is this: Is there any way to use vectored yaw WITHOUT traveling past 90 degrees of tilt? My application makes it rather difficult to go past 90deg without the props striking aircraft structure, but it absolutely needs vectored yaw.

If nothing like this currently exists in the code, my suggestion would be: a mode of vectored yaw where only one motor tilts at a time, depending on the direction of yaw that is required. I admit that this would not be as stable as having both motors tilting, but it would be better than being unable to use the feature at all due to lack of tilt past 90deg.

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