I’m developing mini APM v3.1 using ArduPilot 3.2.1 for my master’s degree theis.
I have several problems like can’t connect MavLink.
First problem is uploaded firmware. That can connect Mission Planner through MavLink. but, gps is work.
I think that problem occured by “baud rate”, but I didn’t find that.
Second is Bluetooth telemetry. Using bluetooth module is HC-06, set baud rate 57600, and connect APM through 5V,GND and crossed TX,RX but, is not working.
It can’t connect to Mission Planner through MavLink, and Alert and showing message "No heatbeat received"
I didn’t find any thing of this problem.
Finally problem is “GY-86”, is the combination module included MPU6050, HMC5883, and MS5611.
I’m using GPS module “Ublox Neo-6M”(Using protocol NMEA, baud rate 9600, no built-in compass).
Thus, 5V and GND between GY-86 and Neo-6M is parallelly connected to mini APM. (I already cut JP1)
And TX,RX is crossed connected to Neo-6M, and SCL, SDA is serial connected to GY-86.
However, GY-86 Module does not working. actuallty I mean, compass(magnetometer) HMC5883 in that module.
How can I connect compass through I2C?
You have a few challenges!
Most of them are because the hardware you’ve chosen/been given is very obsolete. A newer flight controller can run current code, which automatically fixes most of the problems you’re facing.
Firstly, the gy-86 is a pain to get working. It’s been a few years since I hacked around with one, but basically the compass I2C address won’t show up until you play with the mpu6050 to put it in pass through. It’s easier to get a gps with compass.
For the gps setup, if it isn’t working you’ll need to dig around in diy drones or somewhere equally old and obsolete to find a configuration file for it, and use ucenter to upload it. There’ll be a tutorial on that somewhere (maybe in the ArduPilot wiki archive?).
With the Bluetooth module, you need to pair it with your pc/device before connecting it up to your flight controller. I’ve only ever done that over a serial console with AT commands, but there may be another way.
I couldn’t quite understand your first issue, I’m sorry. Hope this helps - but the best help would be more recent hardware!!
All the components you’ve listed can work with ArduPilot, you just need to configure them individually to match what ArduPilot expects - and missionplanner isn’t the best way to do that for the old systems.
I understand price is a challenge, but you’ll save a lot of time and frustration if you can upgrade, plus more people will be able to help.
What is your research project?