Flight mode change failed when use CX-OF(optical flow)

wenbodong · July 24, 2019, 7:19am

Frame: x4 multicopter
Flight Controller: pixhawk
Firmware: ArduCopter V3.6.9 (632be63f), PX4(Nuttx)

Recently I’m using loiter mode indoors with a optical flow(CX-OF). I have followed the instructions in the wiki(http://ardupilot.org/copter/docs/common-cheerson-cxof.html, http://ardupilot.org/copter/docs/common-px4flow-overview.html) such as configuring parameters and calibrating the sensor but it doesn’t work. Pixhawk took off in AltHold mode and then I tried to switch to loiter mode while it refused. I got the message(Flight mode change failed) and error(Subsys 10, Ecode 5) from the following log.
loiter-fail-cxof-20190724-02.zip (501.9 KB)

You may consider that the cx-of is broken or I don’t mount it in the right direction, so do I. But to my surprise, when I load the newest firmware( ArduCopter V3.7.0-dev (5b5f5823)), it works perfectly. Just changing the firmware and nothing about the hardware, it can switch to loiter and can hold the position.

I don’t know why it has problems with 3.6.9 while works with 3.7.0-dev, can anybody help me?

wenbodong · July 25, 2019, 1:25am

Can anybody help me?

ppoirier · July 25, 2019, 1:32am

Hello
This feature has been enabled since 3.6.9 rc2

CX-OF flow sensor enabled on all boards

ArduPilot/ardupilot/blob/master/ArduCopter/ReleaseNotes.txt

ArduPilot Copter Release Notes:
------------------------------------------------------------------
Copter 3.6.10-rc2 2-Jul-2019
Changes from 3.6.10-rc1
1) mRobotics ControlZeroF7 board support
2) Motor Test fixed by removing delay that triggered CPU Watch Dog
------------------------------------------------------------------
Copter 3.6.10-rc1 08-Jul-2019
Changes from 3.6.9
1) EKF improvements:
    a) learns biases even for inactive IMUs
    b) EKF uses earth magnetic field model to reduce in-flight compass errors
    c) EKF switches to first healthy IMU when disarmed
    d) IMU fix for dropped samples during high CPU usage
    e) Optical flow fusion start fix when some gyros disabled
2) Ublox F9 GPS support
3) Integrated CPU Watch Dog for STM boards including logging of reset reason
4) ChibiOS I/O firmware for ChibiOS builds to support Spektrum binding
5) Auxiliary switch changes always logged
6) CUAVv5 Nano LED fix

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wenbodong · July 25, 2019, 1:49am

Thank you for replying.
The firmware of my pixhawk is V3.6.9 (632be63f) which is after 3.6.9 rc2. And my pixhawk can read data from cx-of. The problem is it can not switch to loiter mode.