Hoping to diagnose from a pic?
Hi. Can i use external imu for yaw pitch roll of photos in auto mission ( Aerial Mapping ) ?
@Gromitvt10,
Itâs hard to say when the PRX_MIN will be implemented but here is the issue to track. AP_Proximity: add MIN and MAX valid distance values ¡ Issue #6583 ¡ ArduPilot/ardupilot ¡ GitHub
This should be caused by the modification of a parameter in the new version, and the relevant parameters are listed. What else to do? This is not like a program vulnerability. It should be that the new parameters are not set, but I canât find them
Ok, if all the relevant parameters are there, itâll be solved for sure 
p.s. maybe add the color of the drone to help diagnose
Yaapu telemetry script stop working on 4.1 
Works just fine here with CubeBlack and X10S.
Iâm trying to test this version, but after long searchs I didnt find why my rangefinder is not working.
I just upgrade from 4.0.7 to 4.1.0, all my parameters are there, but rangefinder stoped, so I downgraded to 4.0.7 without changing any parameter and after reboot the rangefinder works, tryied to go back to 4.1.0 and didnt work again.
Maybe is something related with ekf3?
Iâm still looking for clues, but cant find, hope someone help me.
iâm using lightware lw20/C.
Thanks for the report re the light lw20 not working. Can you try the beta, âCopter-4.1.1-rc1â because it has a fix that very specifically should resolve issues seen connecting with the lightware serial lidar.
The beta can be downloaded from MPâs firmware install screen after pushing the âBeta firmwaresâ link on the bottom right of the screen.
Thanks for your reply. @rmackay9
Is it safe to use this version or is too soon? Becouse I have a 10kg hexa and I dont want crash it.
Hello.
With F9P GPS i have beautiful GPS_alt readings. I would like to use it as altsource.
BUT
With EK2 we had parameter EK2_Altsource.(or similar)
With EK3 i see no such parameter.
Is there any possibility to do it with ek3?
Thank you.
EK3_SRC_POSZ I think
1 Like
Thank you! I guess that´s it!
I think even if you do that, the barometer still has influence over altitude.
After upgrading to 4.1 I have noticed 3 small issues
-
In previous versions I used GPS a the main altitude device, To make this change in 4.1 I need to amend the EK3_SRCx_ parameter but donât have it in the full parameter list.
-
Sometimes the copter fails to enable loiter mode. In the log files it shows. Err-Flight_Mode-5. I have recalibrated the compass just incase it was an issue.
-
When flying forward in loiter mode there is a high frequency buzz almost like the copter is over tuned But in Alt hold mode flying at the same speed there is no buzz
Below is a log file with the problems. Might need to do few more flights to better demonstrate the third issue.
You have 3 baros, 1 and 2 are tracking closely to each other, 0 is a little bit off. EKFâs job is to combine that data with GPS Alt and defaults are usually OK. Be aware that GPS Altitude could be inaccurate and varies a lot. These are the EKF params you are after, I see them fine in full parameter tree:
EK3_ALT_M_NSE 2 - Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS
and EK3_SRC*Z params.
I would not be inclined to change the EK3_SRC params but maybe try adjusting EK3_ALT_M_NSE and see how that affects things.
Itâs not changing into loiter because
Mode change to LOITER failed: requires position
The GPA Delta is all over the place even though number of sats and HDOP are generally acceptable.
Try setting GPS_GNSS_MODE,65 or GPS_GNSS_MODE,5 and see which gives more consistent GPA delta. The GPA delta is the update rate from the GPS. When they get overwhelmed with too much data from more constellations the update rate slows or varies a lot. Limiting the number of consellations usually helps. Most regular GPS units only handle two constellations at once.
If you set FENCE_ENABLE,1 then you wont be able to arm and fly until thereâs an acceptable 3D fix and you will avoid these issues - even though it seems to take ages to get a fix, you get used to it.
Tuning seems good in that pitch and roll are following desired quite well. I suspect that if you check and change the things I list below then run Autotune youâll end up with higher ATC_ANG P values and lower ATC_RAT PIDs. That might take care of your odd motor noise. RCout values are a bit noisy looking even though stability is good.
Use the Alt A plug-in to set the rest of you battery params and make sure your existing params match what they should be for initial settings. Gyro and filter settings look good though.
Set these:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
Your MOT_SPIN_ARM is quite high and almost the same as MOT_SPIN_MIN, normally it would be a few more points lower. This is not a critical thing at all, usually MOT_SPIN_ARM just needs to spin the props enough that you can see they are working.
You could adjust the Harmonic Notch Filter a bit, it wont make a lot of difference but just to get it closer
INS_HNTCH_ATT,40
INS_HNTCH_BW,45
INS_HNTCH_FREQ,90
INS_HNTCH_REF,0.25
2 Likes
Thanks for trying out Copter-4.1.0.
I had a quick look at the log and I think if the EK3_SRC1_POSZ parameter is set to 3 (âGPSâ) then the vehicle should use the GPS for altitude. I see the parameter so hopefully it should show up in the full parameter list. Iâm sure it will show up in Mission Planner although Iâm a little less sure about QGC.
It is failing to enter Loiter mode (probably) because the EKF doesnât yet have a good position estimate. It looks like the vehicle was armed and flow initially in Stabilize and AltHold which donât require a position estimate. This issue can be avoided by arming and taking off in Loiter or by at least leaving the vehicle in Loiter until the LEDs indicate it can be armed and then takeoff in Stabilize, AltHold, etc. This will ensure the EKF has a position estimate before takeoff. You probably already know this but just in case.
I might leave the âbuzzâ question to @Leonardthall âŚ
Update to the latest Mission Planner Beta? All the EK3 parameters are in your Parameter file.
Still not showing is this the latest beta 
David Ardis