I have a CubePilot Orange+ and a Herelink on the same platform, side-by-side on my drone under a cover (no other room). I think the fan on the Herelink is affecting the barometer on the CubePilot, so I want to use the barometer on the Here4.
I’ve enabled the barometer on the Here4 with UAVCAN: BARO_ENABLE = 1.
But how can I confirm that the barometer being used is from the Here4?
The CubePilot I believe already has two barometers (redundancy), and when booting with the Here4 unplugged, both press_abs and press_abs2 are present in the status tab on MP.
When I plug in the Here4 again, both press_abs and press_abs2 show up, but if I unplug it without rebooting, press_abs stops updating. So, I assume the Here4 is receiving the correct priority.
Is there a way to properly confirm this? Since the CubePilot has two barometers and the Here4 has one, would the Here4 be considered the third barometer? Should BARO_PRIMARY be set to 2 instead? Can I see which device press_abs and press_abs2 map to?
I couldn’t find much docs on how BARO_PRIMARY works and how to distinguish which baro is which in MP.
There’s a device ID section in Mission Planner that will show you what it has detected and which ID is which Baro.
The Here modules are all sealed. Unless you’ve unsealed yours, the baros are not likely to work well for you. Cubepilot has suggested against using them, so just be aware you might not get what you expect.
I’m assuming the device ID section is Setup→HW ID?
So since the UAVCAN/Here4 is being assigned BARO1 should I not set BARO_PRIMARY=0?
Also, I was not aware of the Here4 Baro was not recommended, it’s not mentioned anywhere in the docs annoyingly. Could you point me to the material you’re referring to?
Also, to confirm press_abs = main baro and press_abs2 is the internal baros? As I can see what you mean, press_abs is a lot lower.
keep the value of BARO_PRIMARY=0 to set the here4 barometer as primary, although not recommended.
depending on value of BARO_PRIMARY, the press_abs vals change.
If BARO_PRIMARY = 0, press_abs is of here4, but if it is different, it is of internal baro.
Understood, but still a bit confused. What is the behaviour of BARO_PRIMARY? The docs Complete Parameter List — Copter documentation state that you can select 1st, 2nd or 3rd baro. My UAVCAN/Here4 is being assigned the number 1. So why would BARO_PRIMARY be set to 2? Can someone elaborate on the behaviour of the param?
Okay, your answer doesn’t really respond to my post. As the docs state for BARO_PRIMARY you can select 1st, 2nd or 3rd but that is pretty vague.
Does choosing the “1st” map to BARO1, “2nd” map to BARO2 etc.? You’ve just suggested to set BARO_PRIMARY=1 (2nd) with no context, what makes the UAVCAN/Here4 the 2nd even when it’s showing as BARO1 in my HWID page. (pic posted before)
In your case:
BARO1 is Here4 Baro
BARO2 is MS5611 Internal
BARO3 is MS5611 Internal
In your case, you have mentioned that you want to use the Here4 barometer, which is on UAVCAN, as primary barometer.
So BARO_PRIMARY=0 sets the UAVCAN Barometer as primary alt source for ekf3. If you set it to 1, it makes the ms5611 as primary.
HW ID tells you the value you need to set to BARO_PRIMARY for a barometer.
Ok, we’re going round in circles here but I still appreciate you trying to help. I don’t think what your suggesting is correct. Here is the definition from the docs:
I believe that setting BARO_PRIMARY=1 (which maps to 2nd BARO according to the docs) as your suggesting will map to my internal baro (BARO2), which is not what I want.
According to the docs I think I should be setting BARO_PRIMARY=0 (1st baro). I think your incorrectly mapping bit values to the BARO numbering convention.
What doesn’t make sense is when I did set BARO_PRIMARY=1 (which should be the internal baro) why did the baro press_abs var stop getting updated when I unplugged the here4 while running. (for a test)
If anyone could chime in, it would be much appreciated.
No problem, I linked to the docs but it did come across like you weren’t reading them. If someone else could confirm that I’m using the PARAM correctly that would be appreciated.
Also, any docs/info actually pointing to why the Here4 Baro shouldn’t be used would be appreciated too as I’m not seeing any official info on it. The cubepilot is right next to my Herelink which has a fan so I’m pretty sure that will mess with the internal baros.
I think you’re using the BARO_PRIMARY parameter correctly (e.g. BARO_PRIMARY = 0). I think the default is 0 so I wonder why it was set to 2 on your vehicle.
In any case, I think the Here4 barometer can be very badly affected by wind blowing over the GPS/compass/baro module. I’m aware of one incident here in Japan where a quadcopter with a beta Here4 (it was a while ago) with the baro enabled resulted in a very inaccurate altitude reading and a crash. I think many people put the GPS/compass/baro puck in an exposed area so the baro doesn’t work well for most. I think for this reason CubePilot disabled the Here4 baro by default
