Copter-3.6.0-rc12 available for beta testing

Gino_Nencioni · October 9, 2018, 2:36pm

The problem is a trivial error inside the hwdev.dat file…

Quadzilla · October 9, 2018, 3:37pm

When upgrading from RC-5 to 12 to test the new firmware I received this error on my frog hex. mRo 2.1.

Error: no firmware for this board.

I assume that I can use copter/beta/mRox21 as a downloaded file?

Quadzilla · October 9, 2018, 4:03pm

Regarding the mRo v2.1 ok got it to work using the download.

Gino_Nencioni · October 9, 2018, 4:16pm

You need the .apj file…

iampete · October 9, 2018, 4:46pm

sorry, I’m no expert at this stuff, I cant see anything obvious, what is the exact error? I will compile and see if it fixes it.

Quadzilla · October 9, 2018, 4:51pm

Thanks! got it off the download server.

Gino_Nencioni · October 9, 2018, 4:54pm

Look at USART2 and USART3
they have the same value…
We need to change in Usart2 the usart3 incorrect value…

iampete · October 9, 2018, 4:57pm

USART2 is commented out as the RX pin is used for RC in.

Quadzilla · October 9, 2018, 5:08pm

The Frog has told me she is happy with RC-12 chibiOS. Well done guys will test other functions.

rmackay9 · October 9, 2018, 11:05pm

Brandon,

Thanks for the report. I think this means that MP isn’t recognising the mRo bootloader so I’ve created this MP issue.

rmackay9 · October 9, 2018, 11:33pm

Sergey,

Thanks for the report. So looking at the logs it seems like in the BAD log it is detecting a QMC5883L compass on second (which i think is the external i2c port). Looking at the mRo product page, I don’t see this compass there so perhaps there really is no QMC compass and so the driver fails and we get a compass error.

A temporary solution is to set COMPASS_TYPEMASK to 4096 to disable that particular driver. I’ve add this to our list of issues.

andypiper · October 10, 2018, 7:52am

Thanks @rmackay9! Setting COMPASS_OFFS_MAX to 1500 allowed me to calibrate the external. I also tried autolearn of the orientation and it works - but came up with the orientation I already had - yaw180. Not sure how it will fly but the EKF monitor stays green while I swing the copter about, so fingers crossed.

A couple of things I noted while doing this - COMPASS_LEARN, which I set got set to 0 when I calibrated - is that expected? Also it seems setting this option in the calibration page sets it to 1 which apparently is not recommended for copters? Maybe a MP bug?

olliw42 · October 10, 2018, 8:01am

I’m a bit late, I know, but in response to the comment in the rc11 post, that

I’d really appreciate it if people could remind me of issues they have seen in recent release candidates that they have not received satisfactory explanations for

I’d like to remind that there are plenty of bugs/issues in the Mount section, many of which are existing for years. Satisfactory explanations are known, but no action was taken yet. From scratch I recall:

Nonsense gimbal orientations sent out at startup if no receiver connected. There must be several issues and at least one PR, with several working solutions proposed.
Update rate slows down to 1sec for certain situations relevant in practice. A solution had be proposed somewhere.
Mount Mavlink messages handled incorrectly. Issue was raised. Introduced in 3.6, I think. A solution had be proposed somewhere.
AP sends inconsistent pitch&yaw angles under certain conditions. AFAIK no solution yet proposed.

All the best

rmackay9 · October 10, 2018, 9:35am

@andypiper,
We definitely recommend setting compass-learn to 0 on copter so if it’s getting set automatically to something lse by a page in MP we should raise an issue with MP…

andypiper · October 10, 2018, 9:54am

Sorry I wasn’t clear @rmackay9 . If you tick the box (which I did) it gets set to 1 (mag learn), but the docs indicate only 2 (EKF learn) is valid for copter - but it sounds like you are saying neither is valid? In which case the docs are wrong. Maybe MP should disable this setting for copter.

sergbokh · October 10, 2018, 12:35pm

Hi Randy, thanks for the looking at the log. Yes it is an external compass (Radiolink TS 100 mini that has QMC5883L chip). So the driver was detected correctly I think.

Unfortunately I have no idea of what I could check further, I have two TS100 units, both not working on Chibios. And works not very good on NuttX, having strange peaks I’ve described in Compass stop working but remains healthy
I’ve disabled all the peripheral devices to avoid interferences but that did not solved the issue.
I will also check on v3.5.

andypiper · October 10, 2018, 1:45pm

@rmackay9 here’s a new log with the compass calibrated, I was just hovering. The EKF Mag innovations are all zero as I reported in another thread. Could this be to do with using the compass with the large offsets? It seemed to go away when I excluded the external compass.

iampete · October 12, 2018, 9:47pm

Just got round to having another look at this, turns out it works fine just the serial ports are in a funny order.

Gino_Nencioni · October 13, 2018, 12:11pm

I try to reorder and test them all…but GPS and other serial things dont works…

iampete · October 13, 2018, 12:25pm

I have TX3 and RX3 is serial 1 and TX4 and RX4 is serial 2. You will have to do a full power cycle after you change any serial params.