Hi,
First of all thank you for the great work on developing the ArduPilot!
I have an issue I struggle with for a bit now, and would like to ask for support.
I’m running ArduRover 4.1 compiled directly from source from GIT on BeagleBone Blue.
Unfortunately, I struggle to find SERVO_BLH_* parameters on the parameters list.
I know these parameters are present on ArduRover 4.1 on other platforms, e.g. verified on Holybro Pixhawk 4. Therefore, I believe it must be something with my build configuration for BeagleBone Blue. I’ve tried to Google for similar issues but couldn’t find solution.
My full parameters list is attached.
My MOT_PWM_TYPE is set to DShot150:
MOT_PWM_TYPE 5
Options: 0:Normal 1:OneShot 2:OneShot125 3:BrushedWithRelay 4:BrushedBiPolar 5:DShot150 6:DShot300 7:DShot600 8:DShot1200
Description: This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)
However the only BLH related parameter I have on the list is SERVO_DSHOT_ESC:
SERVO_DSHOT_ESC 1
Options: 0:None 1:BLHeli32/BLHeli_S/Kiss
Description: This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.
My autopilot initialization messages are:
15.01.2022 08:59:44 : EKF3 IMU0 MAG0 initial yaw alignment complete
15.01.2022 08:59:44 : EKF3 IMU0 tilt alignment complete
15.01.2022 08:59:42 : EKF3 IMU0 initialised
15.01.2022 08:59:41 : Radio Failsafe
15.01.2022 08:59:41 : EKF3 IMU0 buffs IMU=19 OBS=7 OF=17 EN:17 dt=0.0200
15.01.2022 08:59:40 : AHRS: DCM active
15.01.2022 08:59:40 : ArduPilot Ready
15.01.2022 08:59:39 : Beginning INS calibration. Do not move vehicle
15.01.2022 08:59:39 : <startup_ground> Ground start
15.01.2022 08:59:39 : Barometer 1 calibration complete
15.01.2022 08:59:38 : Calibrating barometer
15.01.2022 08:59:37 : 7c6c7174b57dc98718e524fb5e8b2e46
15.01.2022 08:59:37 : ArduRover V4.1.3 (718a8061)
My compilation has been performed with these key commands:
git clone GitHub - ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source
git checkout Rover-4.1
git submodule update --init --recursive
./waf configure --board=blue
./waf
I see that the BLH module itself is compiling, e.g.:
…
[ 742/1470] Compiling libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
[ 743/1470] Compiling libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
[ 744/1470] Compiling libraries/AP_BLHeli/AP_BLHeli.cpp
[ 745/1470] Compiling libraries/AC_Fence/AC_Fence.cpp
[ 746/1470] Compiling libraries/AC_Avoidance/AP_OADatabase.cpp
[ 747/1470] Compiling libraries/AC_Avoidance/AP_OABendyRuler.cpp
…
BUILD SUMMARY
Build directory: /home/debian/ardupilot/build/blue
Target Text Data BSS Total
---------------------------------------------------
bin/antennatracker 1289708 47288 53464 1390460
bin/arducopter 1762943 72092 62244 1897279
bin/arducopter-heli 1717963 73280 61896 1853139
bin/arduplane 1763855 75532 62756 1902143
bin/ardusub 1550301 56776 58936 1666013
bin/blimp 1195004 43296 52936 1291236
bin/ardurover 1543105 63532 59716 1666353
Build commands will be stored in build/blue/compile_commands.json
'build' finished successfully (4h14m15.462s)
Board drivers test is showing no errors:
debian@beaglebone:~/ardupilot/build/blue/bin$ rc_test_drivers
Kernel: 4.19.94-ti-r42
BeagleBoard.org Debian Buster IoT Image 2020-04-06
Debian: 10.11
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
PASSED: eqep1
PASSED: eqep2
PASSED: pru-rproc
PASSED: uart1
PASSED: uart2
PASSED: uart4
PASSED: uart5
PASSED: i2c1
PASSED: i2c2
PASSED: spi
PASSED: LED
PASSED: ADC iio
Currently running on a:
MODEL_BB_BLUE
Robot Control library Version:
1.0.5
Do you know what to change to get SERVO_BLH_* parameters?
Thanks in advance!
BeagleBoneBlue_AR41.param (13.8 KB)