Hi.
The following is for an hexacopter with Pixhawk and V3.6.0-rc7, with two I2C sonars (Maxbotix and ST VL53L0X):
Frame: HEXA
PX4v3 00430019 33375113 31313537
PX4: 1e7ed30b NuttX: 1472b16c
ArduCopter V3.6.0-rc7 (4f9232d1)
Being one ultrasonic and the other laser, I understand they can coexist.
I armed and lifted the hexacopter by hand around 1.5m at home and these were the logs:
Copter_20180816_8_2I2Csonars_lift1d5m.bin
Copter_20180816_8_2I2Csonars_lift1d5m.bin.log
These are the barometer altitude and the sonar distances (along with the supply voltages which seem correct):
Anomalies:
-The green line RFND.Dist1 (Maxbotix) follows BARO.Alt but then jumps to absurd values (7.65, 2.66, 3.01, 5.54m). It finishes following BARO.Alt.
-The blue line RFND.Dist2 (VL53L0X) also follows Baro.Alt, stabilizes at 1.06m (RNGFND2_MAX_CM 120) and then jumps to almost 0. It also finishes following BARO.Alt.
So for flying these sonars are unusable. Any help with these anomalies?
Examining the text file Copter_20180816_8_2I2Csonars_lift1d5m.bin.log, these are the lines of messages containing RFND distances for both sonars, indicating the lines with anomalies on RFND.Dist1 or RFND.Dist2:
RFND, 34260234, 0.2, 25, 0.19, 25
RFND, 34662985, 0.2, 25, 0.19, 25
RFND, 34713237, 0.2, 25, 0.19, 25
RFND, 34814031, 0.2, 25, 0.19, 25
RFND, 34864131, 0.2, 25, 0.19, 25
RFND, 34914771, 0.2, 25, 0.19, 25
RFND, 34965003, 0.2, 25, 0.19, 25
RFND, 35015635, 0.2, 25, 0.19, 25
RFND, 35065853, 0.2, 25, 0.19, 25
RFND, 35117267, 0.2, 25, 0.19, 25
RFND, 35167395, 0.2, 25, 0.19, 25
RFND, 35217679, 0.2, 25, 0.19, 25
RFND, 35267817, 0.2, 25, 0.19, 25
RFND, 35318686, 0.2, 25, 0.19, 25
RFND, 35419413, 0.2, 25, 0.19, 25
RFND, 35469180, 0.2, 25, 0.19, 25
RFND, 35520688, 0.2, 25, 0.19, 25
RFND, 35571057, 0.2, 25, 0.19, 25
RFND, 35671110, 0.2, 25, 0.19, 25
RFND, 35721979, 0.2, 25, 0.19, 25
RFND, 35822314, 0.2, 25, 0.19, 25
RFND, 35872696, 0.2, 25, 0.19, 25
RFND, 35924343, 0.2, 25, 0.19, 25
RFND, 35975192, 0.2, 25, 0.19, 25
RFND, 36075146, 0.2, 25, 0.19, 25
RFND, 36126073, 0.2, 25, 0.19, 25
RFND, 36176974, 0.2, 25, 0.19, 25
RFND, 36378269, 0.2, 25, 0.19, 25
RFND, 36428324, 0.2, 25, 0.19, 25
RFND, 36478067, 0.2, 25, 0.19, 25
RFND, 36528098, 0.2, 25, 0.19, 25
RFND, 36579365, 0.2, 25, 0.19, 25
RFND, 36629269, 0.2, 25, 0.19, 25
RFND, 36679100, 0.2, 25, 0.19, 25
RFND, 36729267, 0.2, 25, 0.19, 25
RFND, 36780151, 0.2, 25, 0.19, 25
RFND, 36830065, 0.2, 25, 0.19, 25
RFND, 36880514, 0.2, 25, 0.19, 25
RFND, 36981647, 0.2, 25, 0.19, 25
RFND, 37031213, 0.2, 25, 0.19, 25
RFND, 37082269, 0.2, 25, 0.19, 25
RFND, 37131898, 0.2, 25, 0.19, 25
RFND, 37182793, 0.2, 25, 0.19, 25
RFND, 37232937, 0.2, 25, 0.19, 25
RFND, 37282795, 0.2, 25, 0.19, 25
RFND, 37332890, 0.2, 25, 0.2, 25
RFND, 37383972, 0.2, 25, 0.22, 25
RFND, 37433543, 0.2, 25, 0.24, 25
RFND, 37484213, 0.2, 25, 0.26, 25
RFND, 37584672, 0.2, 25, 0.33, 25
RFND, 37634758, 0.23, 25, 0.36, 25
RFND, 37685092, 0.23, 25, 0.4, 25
RFND, 37735284, 0.23, 25, 0.44, 25
RFND, 37785893, 0.23, 25, 0.48, 25
RFND, 37835850, 0.23, 25, 0.52, 25
RFND, 37887124, 0.23, 25, 0.57, 25
RFND, 37937157, 0.5, 25, 0.61, 25
RFND, 37987445, 0.5, 25, 0.66, 25
RFND, 38037623, 0.5, 25, 0.7, 25
RFND, 38138836, 0.5, 25, 0.79, 25
RFND, 38189060, 0.5, 25, 0.82, 25
RFND, 38239080, 0.83, 25, 0.88, 25
RFND, 38290080, 0.83, 25, 0.9, 25
RFND, 38340117, 0.83, 25, 0.97, 25
RFND, 38390261, 0.83, 25, 0.97, 25
RFND, 38440696, 1, 25, 1.06, 25
RFND, 38491229, 1, 25, 1.06, 25
RFND, 38541302, 1.07, 25, 1.06, 25
RFND, 38591930, 1.07, 25, 1.06, 25
RFND, 38642013, 1.07, 25, 1.06, 25
RFND, 38693733, 1.07, 25, 1.06, 25
RFND, 38743295, 1.17, 25, 1.06, 25
RFND, 38794081, 1.17, 25, 1.06, 25
RFND, 38894995, 1.21, 25, 1.06, 25
RFND, 38945082, 1.25, 25, 1.06, 25
RFND, 38996172, 1.25, 25, 1.06, 25
RFND, 39046226, 1.25, 25, 1.06, 25
RFND, 39096879, 1.25, 25, 1.06, 25
RFND, 39146949, 1.32, 25, 1.06, 25
RFND, 39198071, 1.32, 25, 1.06, 25
RFND, 39248154, 1.35, 25, 1.06, 25
RFND, 39298062, 1.35, 25, 1.06, 25
RFND, 39348072, 1.38, 25, 0, 25 RFND.Dist2
RFND, 39398964, 1.38, 25, 0, 25 RFND.Dist2
RFND, 39449031, 1.4, 25, 0, 25 RFND.Dist2
RFND, 39549082, 1.4, 25, 0, 25 RFND.Dist2
RFND, 39600051, 1.4, 25, 0, 25 RFND.Dist2
RFND, 39650171, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 39700042, 7.65, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 39750141, 7.65, 25, 0.08, 25 RFND.Dist1 RFND.Dist2
RFND, 39801462, 7.65, 25, 0.08, 25 RFND.Dist1 RFND.Dist2
RFND, 39851437, 7.65, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 39902203, 7.65, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 39951666, 7.65, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 40002903, 7.65, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 40254513, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40305434, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40355618, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40406206, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40456266, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40507386, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40557462, 7.65, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40607411, 2.66, 25, 0.01, 25 RFND.Dist1 RFND.Dist2
RFND, 40657337, 2.66, 25, 0, 25 RFND.Dist1 RFND.Dist2
RFND, 40708456, 2.66, 25, 0.01, 25 RFND.Dist1 RFND.Dist2
RFND, 40758644, 2.66, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 40809211, 7.65, 25, 0.01, 25 RFND.Dist1 RFND.Dist2
RFND, 40859266, 7.65, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 40910696, 7.65, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 40961110, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 41060799, 7.65, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 41112033, 7.65, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 41162523, 7.65, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 41212212, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 41262517, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 41313753, 7.65, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 41464892, 2.68, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 41516035, 3.01, 25, 0.07, 25 RFND.Dist1 RFND.Dist2
RFND, 41566898, 3.01, 25, 0.08, 25 RFND.Dist1 RFND.Dist2
RFND, 41616997, 5.54, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 41666742, 5.54, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 41717003, 5.54, 25, 0.07, 25 RFND.Dist1 RFND.Dist2
RFND, 41868617, 5.54, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 41918482, 5.54, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 41969805, 5.54, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 42019686, 5.56, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 42069523, 5.56, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 42119768, 5.56, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 42171275, 5.56, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 42220779, 5.55, 25, 0.08, 25 RFND.Dist1 RFND.Dist2
RFND, 42271216, 5.55, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 42321238, 5.55, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 42371998, 5.55, 25, 0.04, 25 RFND.Dist1 RFND.Dist2
RFND, 42421966, 7.65, 25, 0.06, 25 RFND.Dist1 RFND.Dist2
RFND, 42472549, 7.65, 25, 0.05, 25 RFND.Dist1 RFND.Dist2
RFND, 42522655, 7.65, 25, 0.02, 25 RFND.Dist1 RFND.Dist2
RFND, 42573792, 7.65, 25, 0.02, 25 RFND.Dist1 RFND.Dist2
RFND, 42623657, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 42674986, 7.65, 25, 0.03, 25 RFND.Dist1 RFND.Dist2
RFND, 42724723, 7.65, 25, 0.13, 25 RFND.Dist1 RFND.Dist2
RFND, 42826047, 7.65, 25, 0.13, 25 RFND.Dist1 RFND.Dist2
RFND, 42877053, 7.65, 25, 0.13, 25 RFND.Dist1 RFND.Dist2
RFND, 42927040, 1.53, 25, 0.13, 25 RFND.Dist1 RFND.Dist2
RFND, 42977426, 1.53, 25, 0.13, 25 RFND.Dist2
RFND, 43027455, 1.53, 25, 0.13, 25 RFND.Dist2
RFND, 43078443, 1.53, 25, 0.13, 25 RFND.Dist2
RFND, 43128124, 1.53, 25, 0.13, 25 RFND.Dist2
RFND, 43228967, 1.25, 25, 0.13, 25 RFND.Dist2
RFND, 43280560, 1.25, 25, 0.13, 25 RFND.Dist2
RFND, 43330177, 1.25, 25, 0.13, 25 RFND.Dist2
RFND, 43380460, 1.25, 25, 0.13, 25 RFND.Dist2
RFND, 43430531, 1.18, 25, 0.13, 25 RFND.Dist2
RFND, 43531619, 1.13, 25, 0.13, 25 RFND.Dist2
RFND, 43582969, 1.13, 25, 0.13, 25 RFND.Dist2
RFND, 43632609, 1.06, 25, 0.13, 25 RFND.Dist2
RFND, 43733765, 1.06, 25, 0.88, 25
RFND, 43783820, 1.06, 25, 0.85, 25
Similar problem with this other sonars combination, so may be the problem is in a misconfiguration or somewhere in the code treating sonar data.
Maxbotic I2C Sonar Rangefinder
ST VL53L0X / VL53L0X Lidar
I repeated the test changing RNGFND_MAX_CM to 700 (previously 400 and as suggested in Maxbotic I2C Sonar Rangefinder) and RNGFND2_MAX_CM to 200 (according to ST chip specifications), but the problem persists:
This BARO.Alt, RFN.Dist1 and RFND.Dist2 elevating the hexacopter around 12m, obtained at the field:
While RFND.Dist2 seems normal, RNGFND2_MAX_CM=120, and it reports to be below that height most of the time.