I don’t think I’ve ever adjusted MOT_PWM_MIN. Of course I can’t be 100% sure of that over the year+ this quad has been flying, but I can’t think of when or why I would have touched that one. This quad has basic PWM ESCs and there were no setup issues with the ESCs that would have had me messing with settings.
All Arming checks are active (set to 1).
In case it matters, I migrated this one from 4.1.3.
Thank you for your responce.
i have set LAND_ALT_LOW = 2000
LAND_SPEED = 50
LAND_SPEED_ HIGH = 150
but this is not happening. Here is the log https://drive.google.com/file/d/1U-686xZGv4f_w64EXYLXYmHvS8M8sQco/view?usp=sharing
i have been facing another issues also that i never faced before.
Issue 1 : Auto disarm not happening
Ex; i have flown full autonomous flight from takeoff to land .
everything happened as expected but after touchdown the ground its does not disarm itself (Disarm Delay = 6 s) after 6sec also its keep rotating its only disarm when i switch to stabilize mode from my RC and YAW left to disarm Manually…in Loiter mode also its not disarming with LOW THROTTLE LEFT YAW. i have well calibrated Rc transmitter and done ESC semi automatic Calibration too ESC CALIBATION SET to 3 .
Used model is T.drone M690A
As @ Allister reported here i had same issue with beeping as signal is not received by ESC.
After that i have set
MOT_PWM_MIN = 1100
MOT_PWM_MAX = 1940
then issue solved and also given motor test command set THR value to 10 and all motors working Normally.
ISSUE 2 : in ALTHOLD or LOITER mode its doesn’t maintain the height as when throttle stick is centered .either its goes keep altitude high or keep descending as low.
EX : flying in Stabilize mode while takeoff and switch to Alt hold with throttle stick centered( using Skydroid T12 transmitter which is Spring centered stick) after changed to ALTHOLD or LOITER mode either its keep increasing height or dropping in alt .To solve this issue( height climbing ) i have to keep THR stick to below center position and leave it in center stick position to stop height climbing.
for descending i have to do vice versa.
SET PILOT_THR_BEHAVIOUR = 7 but NO improvement.
then i just downgraded the AC 4.2.0 to AC 4.1.5 but still issue continues.
here is the 4.1.5 with same issue .
https://drive.google.com/file/d/1e3MhfCUmRXReh51K9Dh3A37w57bKKheR/view?usp=sharing
The quad is in Auto the whole time, it doesnt change into Land or RTL mode, so it’s just following whatever settings you have in the mission.
I’m not sure about where it’s getting the descent rate from though.
There’s some battery settings missing that I would definitely have in place.
Get current monitoring working properly.
Vibrations are a bit high, I’d try to improve that, then enable HNOTCH properly and run Autotune.
Even though it’s flying OK now, this will help a lot and also reduce battery usage.
Test Land and RTL outside a mission and check what happens.
I have been flown arducopter many years and never had this kind of issue.my previous quad also we flown Fully auto flight when landing phase it was definitely followed either WPNAV_SPEED_DN or LAND_ALT_HIGH parameter while landing or descending any of the mode.
I have already tested each individual mode as you said here .but all mode response is same as described.
Kindly check 4.1.5 log also for land command mode decent rate checked but its was not exceed 0.5m/s
@xfacta
Could you see in the log that its not auto disarmed after landed.
After landed i have changed to stabilize mode from my rc transmitter then yaw left to disarm otherwise it wouldn’t disarm its own.
How to solve this ?
Also can you any suggestions on my issue no 2?
I suspect that vibrations are affecting that landing detection
There is no much vibration on landing phase its less than 15 and after landed even less too…
I also have this issue presently.
The copter will also not re-arm after this event.
power cycle is required.
hi @xfacta
as i said vibration is not that much to affect the landing detection .
all X,Y and Z vibration are less than 15 only.
below you could see that from at al altitude of 150m its descending at 0.5m/s descend speed i don’t know why even i set 1.5m/s speed. if possible @rmackay9 also can look at this issue.
Next after landed its not auto disarm until i switch to stabilize mode and YAW left to disarm manually
Shittt, Lidar Llite V3 is not connected in this firmware version , Pre-Arm Rangefinder 1 : No Data
Pleasee Helppp :’(
I’m using the Lidar-Lite v3 with Copter 4.2.0 rc-1 (not the stable version) and it’s working. I also get the prearm warning you mentioned when the lidar is not powered correctly. The warning is new, but the functionality has not changed, I guess. Check if your power supply is sufficient for the Lidar. Power from I2C alone is not enough. The GND pin needs to be connected to both, the external power source and the I2C-GND-cable. If that’s all okay, it could be a problem with I2C addresses or too long cables.
If you’re using the PWM connection then the SERVOx_FUNCTION parameter (where “x” is the servo output pin used) needs to be set to -1.
HII,
here I want to ask about the Realsense T265 camera to access it on pixhawk.
does Realsense T265 camera support for ardupilot 4.2.1 firmware? and if possible what parameters are changed in the EK3?
Because I have a problem, when I try to fly my drone with the latest firmware, when arming in Loiter mode, the drone won’t run. what do you think is the problem?
No, you can not connect the T265 camera to a flight controller running ArduCopter, unless that flight controller is a linux computer, like BBB or RPi.
no I mean, I have connected Realsense with Jetson Nano using UsbTTL communication protocol. and use GCS with MP settings
EK3_SRC1_POSXY = 6 (ExternalNav)
EK3_SRC1_VELXY = 6 (ExternalNav)
EK3_SRC1_POSZ = 1
EK3_SRC1_VELZ = 6 (ExternalNav)
GPS_TYPE = 0 to disable the GPS
VISO_TYPE = 2 (IntelT265)
And is there any additional components or other parameters on the Aducopter 4.1 and above?
any update this ?
when can get a beta build atleast ?
Re the AP+VOXL2 port, I’m afraid it still hasn’t started although coincidentally we met with the ModalAI engineers yesterday. At the risk of “passing the buck” at this point, the next step is for the ModalAI engineers to free up a couple of weeks in their schedule to work with us.
On a positive note though, AP+VOXL1 is working great but you should definitely use 4.3.2 (or higher) because we found and fixed an important bug in the consumption of the ODOMETRY message the camera sends.
