I have a switch set to a ch12 with value ‘3’ to activate old classic simple/headless mode, separately from the current flight mode chosen .
it is no longer working with 3.6. it worked fine with 3.5.5 - and i did not change my radio and i can see how it sends this ch12 data into copter same way as before, but there is no reaction back from it and no message plays ‘simple mode on’ and in reaction to controls it is visible - it is not in simple mode.
PS. it must be a glitch in the 3.6 code. i altered my controls to use super simple mode also now on channel 9.
so, if channel 12 is on - there is no reaction. if channel 9 is on by itself, there is also no reaction.
if channel 12 is on and then channel 9 goes on - the copter activates super simple mode. if then channel 9 goes off (with channel 12 still on) - it switches into simple mode. if channel 12 goes off - it remains in simple mode ignoring switch off. it is quite ridiculous.
Yes, using the H1 swashplate mode is because I’m a PIX+FBL and downstream is an FBL unit.
H_COL_MAX set to 2100 is because the original set 1906 can not increase the maximum collective pitch, so I tried to increase the value of Col_max, but no effect, has not changed back.
Servo3_trim became 1095, this is not right, I did not pay attention to see, but I am using the 3.6rc1 parameters directly used, I also compared the original backup 3.6rc1 parameters, did not find all the difference between the servo_xx parameters .
I try to adjust servo3_trim to 1500 and go to fly again. It is probably the problem here.
Unless I’m missing something t should actually default to 1500. That comes from the servo library and it would have to be manually set to have it at 1095.
Also, with downstream FBL you should not be reversing any servos in ArduPilot unless your dowstream FBL does not support reversing servos. If the normal setup for your FBL is to reverse a servo in the RC to change direction of one, then reversing it in ArduPilot is right thing to do. Different ones are different in this regard.
It may be caused by the default value, because when I test v5 3.6dev, after calibration RC, the Trim value of the channel that is not calibrated is the same as the min value, you need to manually set the value of the channel at about 1094 , 1500, 1934 this range, which is the common PWM channel of futaba.
After I tried to modify Servo_Trim to 1500, the collective pitch returned to normal. I was surprised that there was no such problem in 3.6rc1 before. Then, when I tried to test the flight, I found that after the plane took off, it oscillated and returned to the ground to observe the rudder movements of the three swash-plate servos and found that the left-front servo and the other two servos moved. Differently, when you stop the cycle rocker, it will swing itself near the neutral point. After troubleshooting, I found that the steering gear itself had a problem and I sent it back to the manufacturer for repairs. After repairing, I will continue to test 3.6rc2 and report the results of 3.6rc2 in time. Thank you @bnsgeyer, thanks@ChrisOlson
This was only noticed recently by Bill. There is another servo related PR in the works at present, but Bill made sure this problem does not happen again in the new PR. That PR is not merged yet.
Flew ChibiOS today located http://firmware.ardupilot.org/Copter/latest/fmuv3/ on a Pixhawk classic noticed craft flew ok Loiter mode was ok Flew the craft in ground effect bromator ok. " blew some leaves" then back to Loitor. Craft started to drift it wanted to go back to its imperial homeland. Landed craft did a calibration Compass was 180 degrees off. Rolled back to Nuttx RC1 and compass was corect mounted due North. BTW compass cal only recognized one compass under Chi, also beeping was off.
Installed chibiOS off mission Planner ArduCopter V3.6.0-rc2 (2a4b7805) " beta" and i compass seems ok.
Note after plugging the craft in a few hrs later the compass has reversed one more time pos horizon flashing and bad compass health. I will have to wait on Chibios until the next build for this bird and the mRo vx 2.1.
I like to conclude my testing of the following crafts I tested and made.
mRo pixhawk classic with ChibiOS flys well.
mRo vx.2.1 flight controller ChibiOS stableise flight mode ok Loiter flight mode very bad.
Pixhawk classic import clone. flys ok but compass setting morph into the dark side after a few boots. north and south poles reversed. drift and GPS flyaways noticed.
Cube 2.1 with custom carrier board flys well.
all crafts are excellent in 3.5 and 3.6 nuttx rc-1 love the new loiter flight mode but tends to drift off center more than Nuttx. in tight 360 maneuvers. I hope my testing and donations has helped.
Just wondering if anyone has a time line on RC3 being released?
In particular the fix to external I2C hangups, as this is holding back further testing.
BTW, everything else is just great with ChiRC2.
Have not tested all modes but in a grossly overpowered quad the stock PID’s flew it fine, it just breezed through autotune the new loiter is just rock solid.
Love the braking in loiter now, very nice addition.
Have not checked Auto yet. (weather)
Txs for the report on the choppy loiter using ChibiOS. It definitely surprises me and I 50% suspect environmental issue but ChibiOS is new so it’s very possible that it has some problems. I’ll give it a try and see if I see anything. -rc3 will be out soon and I know Tridge & Co have fixed various things so maybe it’ll be better…
I did test a few times going from the nuttx rc1 that you made me and the Chi versions rebuilt the copter a few times to make certain it was not a random setup. The odd thing is Nuttx 3.6rc-1 is stellar! will try it when the new build is out.
is there anybody else here with issues to invoke simple mode? everything else works fine but after several tests and switches to 3.5.5 and back to 3.6 rc2 it is same - if vehicle powered first and then radio is turned on then simple mode turns on even with ch12 switch not up, if radio is on first and drone powered next then simple mode sits off and does not respond to switch to turn it on until super simple mode turned on by ch9 up (with ch12 up as well), then after super simple mode turned off it turns on simple mode as its switch is still up. it is quite ridiculous and i cannot find what drives it. re-calibration of radio did not do any difference. 3.5.5 works fine.
features on other channels work fine and get invoked with no issues.
I had a odd issue as well depending on how i started the craft battery or usb with battery the radio would stick in binding mode and the craft would have major shakes. I was told to remove some of the redundant wires on the radio and that seemed to fix it. It was reproducible.
Loaded Copter 3.6.0 rc2 with ChibiOS all went well but have a few observations
Pixhawk 2.1 with Here GPS
Have removed pre-Arm check on the safety switch as I like to see the Green Led when its has a GPS lock before arming.
The beep between mode changes is not as loud as the previous version
I like the new loiter but the I think the transition form forward flight 5 m/s is a bit abrupt the copter leans back very sharply.
On my machine there is a small twitch after the machine stops in loiter (Lean back then when the machine stops I notice the back arm drops slightly then settles.
Had to increase the P, I and D gains for pitch and roll. Didn’t feel as sharp.
Like anything is a matter of getting used to the changes.
hmm, not sure it has anything at all to do with hardware as flash to 3.5.5 removes the issue.
i am playing with lidars only supported in 3.6 so need to stick to it. it is a minor, and frankly seems to be an oddity, as all other commands on other channels work fine. only simple mode invocation seems to have a mind of its own.
btw, loiter was not choppy at all, but i had to run autotune on 3.6. and i noticed that autotune on 3.6 using oneshot125 protocol had different numbers from 3.5.5 on ‘0’ default esc protocol. overall 3.6 seemed to be more fluid in movements than 3.5.5.
