ArduPilot-software with own flight modes does (almost) not communicate with telemetry

verAPPelt · June 2, 2019, 11:29am

Dear Community,
using the ardupilot-directory including own and edited flight modes, the 3DR-telemetry connection does not work ordinary. Instead of ca. 80% connection after uploading “default” firmware, there are only up to 12% of connection after uploading my own ardupilot-fork.
Has anyone an idea to solve this problem or why it could be so?
Thank you! You would help me very much.

Eosbandi · June 2, 2019, 12:07pm

Eric, 80% communication means that 20% of packets are lost, that is not normal at all.
Regarding to the second part, without looking at your modifications it is impossible to tell what happens.

verAPPelt · June 2, 2019, 1:22pm

Thanks for reply! I only added one flight mode and edited two others (with the necessary changes in Parameters.cpp etc.)
Would it be better if I shared my fork for you?

Eosbandi · June 2, 2019, 1:25pm

I can help debug it.

verAPPelt · June 2, 2019, 2:20pm

@Eosbandi ok thank you
My fork: https://github.com/verAPPelt/ardupilot
edited: land, brake mode in ArduCopter; new: cansat_wait mode

amilcarlucas · June 3, 2019, 11:01pm

What are your SR_ rates. you can use this file to do some predictions:

github.com

ArduPilot/pymavlink/blob/master/tools/mavtelemetry_datarates.py

#!/usr/bin/env python
'''
GUI to calculate telemetry data rate between vehicle and GCS

Amilcar Lucas
Karthik Desai

Copyright IAV GmbH 2017
Released under GNU GPL version 3 or later
'''

from future import standard_library
standard_library.install_aliases()
from builtins import str

## Generate window for calculating the datasize
from tkinter import Tk, Text, TOP, BOTH, X, Y, N, LEFT,RIGHT, CENTER, RIDGE, VERTICAL, END, IntVar, IntVar, Scrollbar
from tkinter.ttk import Frame, Label, Entry, Combobox, Checkbutton

# import MAVLink messages length dictionary

This file has been truncated. show original

Eosbandi · June 4, 2019, 8:47pm

If it below 20% in every mode or only in your “new or modified modes” ?
Perhaps only in cansat_wait mode ?

verAPPelt · June 8, 2019, 1:55pm

Already when connecting the board with MP (getting params…) it is below 20%.

verAPPelt · June 9, 2019, 9:22pm

@Eosbandi Suddenly there are higher percentages: After connecting there are values about 70% which continuous grow up to a value about 96-98%. Do you know how to reach 100%? Furthermore, the choice of flight modes does not matter.

Another thing: In land-Mode I would like to fly not only to the ground, but also in front and right direction. Indeed, in simulation it does not work so. It is possible that you have a short look on this, too, please?

Thanks!