Not only can I i2cdetect the compass but it is detected by ardupilot on startup. Here is what I get on startup:
HMC5843 found on bus 0x71E09
This is probably more an ardupilot question but would you know how I can check which compass is being used ?
Re voltage monitoring, is the patch published in the repository, if not can you share it. I am happy to test and write some documentation if that can help.
I have a few questions related to the BeagleBone Blue,
Background: I want to implement my own flight control scheme on this platform and for the same I wish to write the whole controller from scratch. I however do not wish to write the HAL again myself as I am not at all equipped to do so. So my questions are as follows:
How can I use just the ArduPilot Libraries to write my own code for my aircraft? I mean something along the lines of creating a runAircraft.cpp file as:
Battery: 2-cell LiPo support with balancing, 9-18V charger input
So 3S is within the specs but the best is having a 2S connected in the battery connector so you can use Jack for recharging and being enable power on the servo bus from the battery (that is the only way).
I’ve managed to calibrate radio with Mission Planner. Also “arming” seems to work so that I can see text “Armed” in flight data main window.
But I think I’ve problems to calibrate esc’s (yellow XXD which I’ve checked that they work ok with my old APM):
*banggood./4X-XXD-HW30A-30A-Brushless-Motor-ESC-For-Airplane-Quadcopter-p-961966.html
First I did
sudo systemctl disable ArduCopter.service
sudo systemctl stop ArduCopter.service
and after that reboot
I’ve been trying to calibrate with script from here:
Connected esc 1 wires to servo connector 1 in Beaglebone Blue
then followed instructions from script
esc gave beeps and tone like with old APM 2.8 so I believed it went ok
then removed esc, and changed esc 2 to servo connector 1 and so on for all others, changed esc 3 to connector 1 …
After that
sudo systemctl enable ArduCopter.service
sudo systemctl start ArduCopter.service
and reboot
Then connected with 192.168.1.16, port 5760, board gives correct altitude and level seems to be ok. When I move and change position of quadcopter with my hands I can see it in Mission Planner.
Then I use remote control to arm it like I’ve done with apm2.8. Text “armed” appear to screen. Esc’s beep like those which are not calibrated properly.
The calibration process is not really easy to work with linux based system, I generally calibrate them ‘‘old school’’ with a a receiver.
The rc calibration tool on this github (angelsantamaria) comes from the robotic cape utilities that are aimed at rc servos.
I’m planning to build a drone which can be activated remotely from internet (I already has a rover which has very basic design) and which could do a very simple automatic mission to send pictures from open area 300 x 300m, altitude max 100m. and land back approximately 3x3m agrage (sliding door will open remotely too).
Switching drone “off” after mission … I’ve no idea how to do that properly. With rover I just move it manually under “infrared transmitter” which switches it off when I send key & message from Telegram Bot (I think it’s safer, not so much need to play with firewalls and so on).
Anyway for me it’s enough if drone can come back to inside “garage”.
Anyone used Panasonic 18650 cells with Beaglebone? Keeping lipo-batteries 90-100% full whole time when drone is switched off will degrade batteries I guess. Maybe 18650 or some other battery type is better?
Please note that drone must be flying in accordance of laws. For example, here in Canada, the vehicle must be flown with an operator having a visual contact and a mean to take control = Radio Control.
For Precision landing you can use a visual trcking device like IR Lock
Uh, it seems that similar laws here. I need to check choices, maybe continue to develop more rover or so on. Anyway this is interesting device with Linux…
I’m not sure about the Blue, but I’ve compiled tracker for BBBMini before.
Do you have a build environment set up (either native on the BB, or cross compile)?
No worries. Mirko and Patrick have done all the work - I just typed a few lines in the console.
The build instructions are pretty good in Mirko’s wiki, and the ardupilot site.