Hi, I am working on a 6DoF copter like vehicle but I always get this message when I change the motor frame class to 16: PreArm: Check firmware or FRAME_CLASS . I have also turned SCR_ENABLE to 1 and reboot my Pixhawk CubeBlack before changing the motor frame class.
I was using a Pixhawk CubeBlack and it is unable to handle 6DoF_Scripting because it requires the use of Lua Scripting. A CubeBlack isn’t really able to handle Lua Scripting (unless your scripts are simple).
So, I upgraded to a CubeOrange and everything worked out!
Hello, I was wondering if you could check if I followed all the steps needed to run 6DOF.
I changed frame class to 16, src_enable to 1
I added the two 6DOF lua files (6DoF_roll_pitch.lua and Motors_6DoF.lua) to the SD card
The motors do run and arm, but when I plug the battery to the drone. All the motors start spinning even when disarmed. Is this something you’ve experienced? Also, please let me know if I am missing any steps.
Hey Peter, I am running into problems again with operating 6DOF flight. When I first connect the drone to Mission Planner, the “Messages” section outputs "Frame: 6DOF Scripting, RCout PWM1-14. To fix it and run DSHOT, I usually change the frame class=2 and change it back to 16, then the output looks like "Frame: 6DOF example, RCout PWM1-8 DS600 9-12. However, due to the fact that it was configured to hexarotor, the mapping of the throttles on the RC mimics that of a hexarotor. However, when things were all working fine I remember the messages saying “6DOF Scripting, RCout PWM1-8 DS600 9-12”. How do you make sure the system is running DSHOT on frame_class=16?
So great to hear others building based on Peter’s design. I have a prototype I’ve built to test: motors arm fine, scripts are running, but no liftoff. I’ve double checked all motors are in 3D mode and outputs 1-6 are Dshot 300 and spinning correctly. AP is set to stabilize mode and plenty of sats, etc. A little baffled. Any thoughts or experiences? It’s been months of work and I feel so close!
Got it working! Just needed to activate the 3D motor parameters. (motors 1-6)
Has anyone been able to activate the 4DOF script? Trying to set option 300 to a RC channel ( looking at the code on git, but it dies not seem to activate.
Hey Peter, I am now trying to map the throttle on the RC to reflect FullReverse → Idle → FullForward as you push the throttle upwards. But, right now, I am achieving only Idle → FullForward. I’ve read some stuff online and saw that I have to use the SERVO_BLH_3DMASK parameter to run reversible dshot, but when I enable that parameters, the DSHOT feature disappears and the messages print “PWM 1-14” again. Do you know how I can achieve this FullReverse → Idle → FullForward behavior on the RC with 6DOF scripting?
I see. Are there any changes I can make to the 6DOF code to achieve the FullReverse → Idle → FullForward behavior with the throttle? In other words, can I not perform bidirectional motor movement during flight?
Also, I’m having trouble understanding the roll 180 offset. Is this a parameter I set in the Motor_6DOF lua file?