Copter-4.0.0-rc1 available for beta testing!

Can you give me the parameters for 4.0.0 before you changed them?

Could everybody please NOT change their parameters after updating from 3.6.7.

The only thing that has changed that should impact the tune are the FLTT parameters. This parameter should only reduce the noise in the system so we do not expect it to change the tune.

We want to ensure that the parameter conversions are working correctly and we have not missed anything.

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Same issue hex also my Y-6B tends to drop a little in GPS lock like the video posted above. Normally not an issue. However i figured i just had not flown the Hex to get it used to the air temp. But it is dropping a tad worse when windy…

Anybody experiencing control issues please use these logging settings:

I have added a seperate group to discuss the alt hold issues here.

I am having an issue getting the copter to arm. On the ground control station it is telling me that the compass is not calibrated. I have posted before on the copter 4 thread but feal this is a better place for the discussion Compass Not Calibrated

Original Param Files
2019-10-26 13-54-06.log.param (15.6 KB)

After Upgrade to Version 4
2019-10-28 09-28-11.log.param (19.2 KB)

Update
Had a new CAM Here 2 GPS which I changed the switch to use Serial GPS and I2C and mounted on the copter and calibrated. The Copter now arms and is flying.

Hi rmackay9,
I try copter 4.0.0 rc1 and when try to activate the optical flow nothing appen.
Not working at all.
Tested with Matek f405 and cx-of sensor.

Could RM3100 support be included in 4.0.0?

It seems that the only missing part is probes for it.

Hello,

Thanks for your work.

There is a Led problem with Navio2.

With the same settings, Led sequence is OK with 3.6.11, but Green Led goes OFF and stay off after initial boot sequence.

Can someone explain “StandBy mode for vehicles with multiple flight controllers”? I’ve been looking for a way to use 2 Pixhawks, one as primary and a backup in case the first fails. Is this possible? If so, how? Thanks

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This is a set of functions that allow external hardware to run an autopilot that is not actually in command without causing variable wind up that would cause a crash when that autopilot was put in charge. This also ensures the autopilot will not crash the aircraft if it is in charge when it thinks it is in standby.

This is the first step in facilitating work in multiple redundant flight controllers. At this stage all options I am aware of require separate hardware to mount multiple autopilots and switch between them. I am not aware of any hardware that is publicly available.

Am I reading this right. There is some roadmap towards redundant flight controllers. If so thats really cool.
Would be interesting to read how that would work.

So I noted in the code that SBF and GPS_yaw would be reportable via logs.
Does this mean that the Pixhawk Cube (e.g.) would log the Septentrio dual antenna baseline PVT solution?
I am currently logging GPS coords only via a COM1 output from our Septentrio AsteRx to Telem2.
Getting that super precise heading logged would be big.

We also fly with a Here+ RTK L1 system. Will be interesting to see the GPS heading accuracy comparisons there if both can log the data.

Great work devs!

Thank you very much!!

I had it working. Had to completely drop dronekit and use pymavlink. A bit more difficult but a lot more powerful.

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@Corrado_Steri, thanks for the feedback. Yes, it appears that dronekit doesn’t handle the _INT messages. I didn’t realise this but I’ve added it to our DroneKit Rescue Project proposal. AP hasn’t decided yet if it will fund this but it might.

Hi @rmackay9, is there any more detailed description of “Bendy Ruler” algo? I found short note in Advanced Configuration doc and the code itself of course. Thank you in advance,

Heading with Septentrio gear isn’t in the Copter 4.0 beta, but there is a pull request to add support for it here https://github.com/ArduPilot/ardupilot/pull/12429 which I’m hopeful will grant us this capability.

@Quadzilla, re altitude hold issues, can you provide a log over in the “Alt Hold issues in Copter 4.0”? If you’ve got back-to-back tests with 3.6.11 vs 4.0.0 that would be really valuable… but … whatever you have would be helpful.

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Hi, I think there is some thing wrong in the Note 11 d). I have tested the firmware 4.0.0, there is nothing changes about Benenwake TF03, but Benewake TFmini Plus IIC has been involved. Is that right?

Ok

ok I give it a shot some of my issues was i was using master and figured hat you guys did not what me reporting issues so soon…