Kakute F7 AIO, "enable compass" greyed out

ArduCopter
1

Hi folks,

I’m trying to use a Kakute F7 AIO with an Eachine 250 quadcopter.

Working:

GPS (on UART 3, UART 4 didn’t work like the docs said it would)
Voltage/current sensor
Radio

Not working:

Telemetry (to a Taranis X9D)
Compass (Radiolink SE100)
Maybe some other stuff I haven’t realized yet. :slight_smile:

Anyone know which compass an external compass is? 1, 2, or 3? I’m thinking 2, like for APM/Pixhawk?

The words next to the checkbox to “enable compasses”, are greyed out, and the box is not checkable…I assume that’s because Ardcopter is not seeing a compass connected to the I2C port? Why?

Thanks…

2

I have a couple of working Kakute F7 AIO builds. If you post the following I could take a look and see what’s different vs. yours:

  • ArduCopter version
  • receiver model and which mode you selected when binding to the Taranis
  • wiring diagram for receiver and compass to flight controller
  • full param dump

In my experience the compass didn’t require any configuration, it was discovered automatically.

3

Anthony… Thanks for that. I’ll work on getting that info.

In the meantime, what gps/compass are you using? Is it the same one on both builds?

I’ve read some snippets that say some gos/compass units work great, and others are problematic.

Thanks.

4

Arducopter version: 3.7.0
Receiver: Taranis X9D Plus, R9M FCC, CH 1-16

Wiring diagram:

SBUS from Frsky R9MM to Kakute: R6 (works)
Telem back to R9: T6 (I only get GPS, RSSI, and receiver voltage…no volts/current, artificial horizon, etc etc)
GPS: T3/R3 (works)
Compass: SCL/SDA (I’ve also tried reversing the wires…no luck)

Param dump:

#NOTE: 4/20/2019 05:29:01 PM Frame :
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_RP_EXPO,0.3
ACRO_RP_P,4.5
ACRO_THR_MID,0
ACRO_TRAINER,2
ACRO_Y_EXPO,0
ACRO_YAW_P,4.5
ADSB_ENABLE,0
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
AHRS_EKF_TYPE,2
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0.003840032
AHRS_TRIM_Y,-0.01145537
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ANGLE_MAX,4500
ARMING_ACCTHRESH,0.75
ARMING_CHECK,1
ARMING_MIS_ITEMS,0
ARMING_RUDDER,2
ATC_ACCEL_P_MAX,110000
ATC_ACCEL_R_MAX,110000
ATC_ACCEL_Y_MAX,27000
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,4.5
ATC_ANG_RLL_P,4.5
ATC_ANG_YAW_P,4.5
ATC_ANGLE_BOOST,1
ATC_INPUT_TC,0.15
ATC_RAT_PIT_D,0.0036
ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FILT,20
ATC_RAT_PIT_I,0.135
ATC_RAT_PIT_IMAX,0.5
ATC_RAT_PIT_P,0.135
ATC_RAT_RLL_D,0.0036
ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_I,0.135
ATC_RAT_RLL_IMAX,0.5
ATC_RAT_RLL_P,0.135
ATC_RAT_YAW_D,0
ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FILT,2.5
ATC_RAT_YAW_I,0.018
ATC_RAT_YAW_IMAX,0.5
ATC_RAT_YAW_P,0.18
ATC_RATE_FF_ENAB,1
ATC_RATE_P_MAX,0
ATC_RATE_R_MAX,0
ATC_RATE_Y_MAX,0
ATC_SLEW_YAW,6000
ATC_THR_MIX_MAN,0.1
ATC_THR_MIX_MAX,0.5
ATC_THR_MIX_MIN,0.1
AUTOTUNE_AGGR,0.1
AUTOTUNE_AXES,7
AUTOTUNE_MIN_D,0.001
AVD_ENABLE,0
AVOID_ANGLE_MAX,1000
AVOID_BEHAVE,0
AVOID_DIST_MAX,5
AVOID_ENABLE,3
AVOID_MARGIN,2
BATT_AMP_OFFSET,0
BATT_AMP_PERVLT,17
BATT_ARM_MAH,0
BATT_ARM_VOLT,0
BATT_CAPACITY,1500
BATT_CRT_MAH,0
BATT_CRT_VOLT,0
BATT_CURR_PIN,12
BATT_FS_CRT_ACT,0
BATT_FS_LOW_ACT,0
BATT_FS_VOLTSRC,0
BATT_LOW_MAH,0
BATT_LOW_TIMER,10
BATT_LOW_VOLT,10.2
BATT_MONITOR,4
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,11
BATT_VOLT_PIN,13
BATT2_MONITOR,0
BATT3_MONITOR,0
BATT4_MONITOR,0
BATT5_MONITOR,0
BATT6_MONITOR,0
BATT7_MONITOR,0
BATT8_MONITOR,0
BATT9_MONITOR,0
BCN_ALT,0
BCN_LATITUDE,0
BCN_LONGITUDE,0
BCN_ORIENT_YAW,0
BCN_TYPE,0
BRD_PWM_COUNT,6
BRD_RTC_TYPES,1
BRD_SD_SLOWDOWN,0
BRD_SERIAL_NUM,0
BTN_ENABLE,0
CAM_AUTO_ONLY,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CAM_TYPE,0
CHUTE_ENABLED,0
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_DEC,0
COMPASS_DEV_ID,0
COMPASS_DEV_ID2,0
COMPASS_DEV_ID3,0
COMPASS_DIA_X,0
COMPASS_DIA_Y,0
COMPASS_DIA_Z,0
COMPASS_DIA2_X,0
COMPASS_DIA2_Y,0
COMPASS_DIA2_Z,0
COMPASS_DIA3_X,0
COMPASS_DIA3_Y,0
COMPASS_DIA3_Z,0
COMPASS_ENABLE,0
COMPASS_EXP_DID,-1
COMPASS_EXP_DID2,-1
COMPASS_EXP_DID3,-1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,0
COMPASS_FLTR_RNG,0
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFFS_MAX,1800
COMPASS_OFS_X,0
COMPASS_OFS_Y,0
COMPASS_OFS_Z,0
COMPASS_OFS2_X,0
COMPASS_OFS2_Y,0
COMPASS_OFS2_Z,0
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIMARY,1
COMPASS_TYPEMASK,0
COMPASS_USE,0
COMPASS_USE2,1
COMPASS_USE3,0
DEV_OPTIONS,0
DISARM_DELAY,10
EK2_ABIAS_P_NSE,0.005
EK2_ACC_P_NSE,0.6
EK2_ALT_M_NSE,3
EK2_ALT_SOURCE,0
EK2_BCN_DELAY,50
EK2_BCN_I_GTE,500
EK2_BCN_M_NSE,1
EK2_CHECK_SCALE,100
EK2_EAS_I_GATE,400
EK2_EAS_M_NSE,1.4
EK2_ENABLE,1
EK2_EXTNAV_DELAY,10
EK2_FLOW_DELAY,10
EK2_FLOW_I_GATE,300
EK2_FLOW_M_NSE,0.25
EK2_FLOW_USE,1
EK2_GBIAS_P_NSE,0.0001
EK2_GLITCH_RAD,25
EK2_GPS_CHECK,31
EK2_GPS_TYPE,0
EK2_GSCL_P_NSE,0.0005
EK2_GYRO_P_NSE,0.03
EK2_HGT_DELAY,60
EK2_HGT_I_GATE,500
EK2_IMU_MASK,1
EK2_LOG_MASK,1
EK2_MAG_CAL,3
EK2_MAG_I_GATE,300
EK2_MAG_M_NSE,0.05
EK2_MAG_MASK,0
EK2_MAGB_P_NSE,0.0001
EK2_MAGE_P_NSE,0.001
EK2_MAX_FLOW,2.5
EK2_NOAID_M_NSE,10
EK2_OGN_HGT_MASK,0
EK2_POS_I_GATE,500
EK2_POSNE_M_NSE,1
EK2_RNG_I_GATE,500
EK2_RNG_M_NSE,0.5
EK2_RNG_USE_HGT,-1
EK2_RNG_USE_SPD,2
EK2_TAU_OUTPUT,25
EK2_TERR_GRAD,0.1
EK2_VEL_I_GATE,500
EK2_VELD_M_NSE,0.7
EK2_VELNE_M_NSE,0.5
EK2_WIND_P_NSE,0.1
EK2_WIND_PSCALE,0.5
EK2_YAW_I_GATE,300
EK2_YAW_M_NSE,0.5
EK3_ENABLE,0
ESC_CALIBRATION,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TOTAL,0
FENCE_TYPE,7
FHLD_BRAKE_RATE,8
FHLD_FILT_HZ,5
FHLD_FLOW_MAX,0.6
FHLD_QUAL_MIN,10
FHLD_XY_FILT_HZ,5
FHLD_XY_I,0.3
FHLD_XY_IMAX,3000
FHLD_XY_P,0.2
FLOW_ADDR,0
FLOW_FXSCALER,0
FLOW_FYSCALER,0
FLOW_ORIENT_YAW,0
FLOW_POS_X,0
FLOW_POS_Y,0
FLOW_POS_Z,0
FLOW_TYPE,0
FLTMODE_CH,5
FLTMODE1,16
FLTMODE2,16
FLTMODE3,15
FLTMODE4,11
FLTMODE5,11
FLTMODE6,6
FOLL_ENABLE,0
FRAME_CLASS,1
FRAME_TYPE,1
FS_CRASH_CHECK,1
FS_EKF_ACTION,1
FS_EKF_THRESH,0.8
FS_GCS_ENABLE,0
FS_THR_ENABLE,0
FS_THR_VALUE,975
GCS_PID_MASK,0
GND_ABS_PRESS,101730.8
GND_ABS_PRESS2,0
GND_ABS_PRESS3,0
GND_ALT_OFFSET,0
GND_EFFECT_COMP,1
GND_EXT_BUS,-1
GND_FLTR_RNG,0
GND_PRIMARY,0
GND_PROBE_EXT,0
GND_TEMP,0
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_HDOP_GOOD,140
GPS_INJECT_TO,127
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
GRIP_ENABLE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,2621730
INS_ACC2_ID,0
INS_ACC2OFFS_X,0
INS_ACC2OFFS_Y,0
INS_ACC2OFFS_Z,0
INS_ACC2SCAL_X,0
INS_ACC2SCAL_Y,0
INS_ACC2SCAL_Z,0
INS_ACC3_ID,0
INS_ACC3OFFS_X,0
INS_ACC3OFFS_Y,0
INS_ACC3OFFS_Z,0
INS_ACC3SCAL_X,0
INS_ACC3SCAL_Y,0
INS_ACC3SCAL_Z,0
INS_ACCEL_FILTER,20
INS_ACCOFFS_X,0.1723506
INS_ACCOFFS_Y,-0.03894178
INS_ACCOFFS_Z,-0.0943148
INS_ACCSCAL_X,0.9991148
INS_ACCSCAL_Y,0.9994596
INS_ACCSCAL_Z,0.9866681
INS_ENABLE_MASK,1
INS_FAST_SAMPLE,0
INS_GYR_CAL,1
INS_GYR_ID,2621730
INS_GYR2_ID,0
INS_GYR2OFFS_X,0
INS_GYR2OFFS_Y,0
INS_GYR2OFFS_Z,0
INS_GYR3_ID,0
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYRO_FILTER,20
INS_GYROFFS_X,-0.04462643
INS_GYROFFS_Y,0.002963419
INS_GYROFFS_Z,4.833814E-05
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_NOTCH_ENABLE,0
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,0
INS_POS2_X,0
INS_POS2_Y,0
INS_POS2_Z,0
INS_POS3_X,0
INS_POS3_Y,0
INS_POS3_Z,0
INS_STILL_THRESH,2.5
INS_TRIM_OPTION,1
INS_USE,1
INS_USE2,1
INS_USE3,0
LAND_ALT_LOW,1000
LAND_REPOSITION,1
LAND_SPEED,50
LAND_SPEED_HIGH,0
LGR_DEPLOY_ALT,0
LGR_DEPLOY_PIN,-1
LGR_DEPLOY_POL,0
LGR_RETRACT_ALT,0
LGR_STARTUP,0
LGR_WOW_PIN,-1
LGR_WOW_POL,0
LOG_BACKEND_TYPE,1
LOG_BITMASK,176126
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_MAV_BUFSIZE,8
LOG_REPLAY,0
LOIT_ACC_MAX,500
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250
LOIT_BRK_DELAY,1
LOIT_BRK_JERK,500
LOIT_SPEED,1250
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,0
MOT_BAT_CURR_MAX,0
MOT_BAT_CURR_TC,5
MOT_BAT_IDX,0
MOT_BAT_VOLT_MAX,0
MOT_BAT_VOLT_MIN,0
MOT_BOOST_SCALE,0
MOT_HOVER_LEARN,2
MOT_PWM_MAX,0
MOT_PWM_MIN,0
MOT_PWM_TYPE,0
MOT_SAFE_DISARM,0
MOT_SLEW_DN_TIME,0
MOT_SLEW_UP_TIME,0
MOT_SPIN_ARM,0.1
MOT_SPIN_MAX,0.95
MOT_SPIN_MIN,0.15
MOT_SPOOL_TIME,0.5
MOT_THST_EXPO,0.65
MOT_THST_HOVER,0.35
MOT_YAW_HEADROOM,200
NTF_BUZZ_ENABLE,1
NTF_BUZZ_ON_LVL,1
NTF_BUZZ_PIN,0
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
NTF_OREO_THEME,0
OSD_CHAN,0
OSD_FONT,0
OSD_H_OFFSET,32
OSD_MSG_TIME,10
OSD_OPTIONS,1
OSD_SW_METHOD,0
OSD_TYPE,1
OSD_UNITS,0
OSD_V_OFFSET,16
OSD_W_BATVOLT,10
OSD_W_NSAT,9
OSD_W_RSSI,30
OSD1_ALTITUDE_EN,1
OSD1_ALTITUDE_X,23
OSD1_ALTITUDE_Y,8
OSD1_ASPD2_EN,0
OSD1_ASPD2_X,0
OSD1_ASPD2_Y,0
OSD1_ASPEED_EN,0
OSD1_ASPEED_X,2
OSD1_ASPEED_Y,13
OSD1_ATEMP_EN,0
OSD1_ATEMP_X,0
OSD1_ATEMP_Y,0
OSD1_BAT_VOLT_EN,1
OSD1_BAT_VOLT_X,24
OSD1_BAT_VOLT_Y,1
OSD1_BAT2_VLT_EN,0
OSD1_BAT2_VLT_X,0
OSD1_BAT2_VLT_Y,0
OSD1_BAT2USED_EN,0
OSD1_BAT2USED_X,0
OSD1_BAT2USED_Y,0
OSD1_BATUSED_EN,1
OSD1_BATUSED_X,23
OSD1_BATUSED_Y,3
OSD1_BLHAMPS_EN,0
OSD1_BLHAMPS_X,24
OSD1_BLHAMPS_Y,14
OSD1_BLHRPM_EN,0
OSD1_BLHRPM_X,22
OSD1_BLHRPM_Y,12
OSD1_BLHTEMP_EN,0
OSD1_BLHTEMP_X,24
OSD1_BLHTEMP_Y,13
OSD1_BTEMP_EN,0
OSD1_BTEMP_X,0
OSD1_BTEMP_Y,0
OSD1_CHAN_MAX,0
OSD1_CHAN_MIN,0
OSD1_CLIMBEFF_EN,0
OSD1_CLIMBEFF_X,0
OSD1_CLIMBEFF_Y,0
OSD1_COMPASS_EN,1
OSD1_COMPASS_X,15
OSD1_COMPASS_Y,3
OSD1_CURRENT_EN,1
OSD1_CURRENT_X,25
OSD1_CURRENT_Y,2
OSD1_DIST_EN,0
OSD1_DIST_X,22
OSD1_DIST_Y,11
OSD1_EFF_EN,0
OSD1_EFF_X,22
OSD1_EFF_Y,10
OSD1_ENABLE,1
OSD1_FLTIME_EN,0
OSD1_FLTIME_X,23
OSD1_FLTIME_Y,10
OSD1_FLTMODE_EN,1
OSD1_FLTMODE_X,2
OSD1_FLTMODE_Y,8
OSD1_GPSLAT_EN,1
OSD1_GPSLAT_X,9
OSD1_GPSLAT_Y,13
OSD1_GPSLONG_EN,1
OSD1_GPSLONG_X,9
OSD1_GPSLONG_Y,14
OSD1_GSPEED_EN,1
OSD1_GSPEED_X,2
OSD1_GSPEED_Y,14
OSD1_HDOP_EN,0
OSD1_HDOP_X,0
OSD1_HDOP_Y,0
OSD1_HEADING_EN,1
OSD1_HEADING_X,13
OSD1_HEADING_Y,2
OSD1_HOME_EN,1
OSD1_HOME_X,14
OSD1_HOME_Y,1
OSD1_HORIZON_EN,1
OSD1_HORIZON_X,14
OSD1_HORIZON_Y,8
OSD1_MESSAGE_EN,1
OSD1_MESSAGE_X,2
OSD1_MESSAGE_Y,6
OSD1_PITCH_EN,0
OSD1_PITCH_X,0
OSD1_PITCH_Y,0
OSD1_ROLL_EN,0
OSD1_ROLL_X,0
OSD1_ROLL_Y,0
OSD1_RSSI_EN,1
OSD1_RSSI_X,1
OSD1_RSSI_Y,1
OSD1_SATS_EN,1
OSD1_SATS_X,1
OSD1_SATS_Y,3
OSD1_STATS_EN,0
OSD1_STATS_X,0
OSD1_STATS_Y,0
OSD1_TEMP_EN,0
OSD1_TEMP_X,0
OSD1_TEMP_Y,0
OSD1_THROTTLE_EN,1
OSD1_THROTTLE_X,24
OSD1_THROTTLE_Y,11
OSD1_VSPEED_EN,1
OSD1_VSPEED_X,24
OSD1_VSPEED_Y,9
OSD1_WAYPOINT_EN,0
OSD1_WAYPOINT_X,0
OSD1_WAYPOINT_Y,0
OSD1_WIND_EN,0
OSD1_WIND_X,2
OSD1_WIND_Y,12
OSD1_XTRACK_EN,0
OSD1_XTRACK_X,0
OSD1_XTRACK_Y,0
OSD2_ENABLE,0
OSD3_ENABLE,0
OSD4_ENABLE,0
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_SPEED_DN,0
PILOT_SPEED_UP,250
PILOT_THR_BHV,0
PILOT_THR_FILT,0
PILOT_TKOFF_ALT,0
PLND_ENABLED,0
PRX_IGN_ANG1,0
PRX_IGN_ANG2,0
PRX_IGN_ANG3,0
PRX_IGN_ANG4,0
PRX_IGN_ANG5,0
PRX_IGN_ANG6,0
PRX_IGN_WID1,0
PRX_IGN_WID2,0
PRX_IGN_WID3,0
PRX_IGN_WID4,0
PRX_IGN_WID5,0
PRX_IGN_WID6,0
PRX_ORIENT,0
PRX_TYPE,0
PRX_YAW_CORR,22
PSC_ACC_XY_FILT,2
PSC_ACCZ_D,0
PSC_ACCZ_FF,0
PSC_ACCZ_FILT,20
PSC_ACCZ_I,1
PSC_ACCZ_IMAX,800
PSC_ACCZ_P,0.5
PSC_ANGLE_MAX,0
PSC_POSXY_P,1
PSC_POSZ_P,1
PSC_VELXY_D,0.5
PSC_VELXY_D_FILT,5
PSC_VELXY_FILT,5
PSC_VELXY_I,1
PSC_VELXY_IMAX,1000
PSC_VELXY_P,2
PSC_VELZ_P,5
RALLY_INCL_HOME,1
RALLY_LIMIT_KM,0.3
RALLY_TOTAL,0
RC_OPTIONS,0
RC_OVERRIDE_TIME,3
RC_SPEED,490
RC1_DZ,20
RC1_MAX,2006
RC1_MIN,982
RC1_OPTION,0
RC1_REVERSED,0
RC1_TRIM,1494
RC10_DZ,0
RC10_MAX,1900
RC10_MIN,1100
RC10_OPTION,0
RC10_REVERSED,0
RC10_TRIM,1494
RC11_DZ,0
RC11_MAX,1900
RC11_MIN,1100
RC11_OPTION,0
RC11_REVERSED,0
RC11_TRIM,1494
RC12_DZ,0
RC12_MAX,1900
RC12_MIN,1100
RC12_OPTION,0
RC12_REVERSED,0
RC12_TRIM,1494
RC13_DZ,0
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,0
RC13_REVERSED,0
RC13_TRIM,1494
RC14_DZ,0
RC14_MAX,1900
RC14_MIN,1100
RC14_OPTION,0
RC14_REVERSED,0
RC14_TRIM,1494
RC15_DZ,0
RC15_MAX,1900
RC15_MIN,1100
RC15_OPTION,0
RC15_REVERSED,0
RC15_TRIM,1494
RC16_DZ,0
RC16_MAX,1900
RC16_MIN,1100
RC16_OPTION,0
RC16_REVERSED,0
RC16_TRIM,1900
RC2_DZ,20
RC2_MAX,2006
RC2_MIN,982
RC2_OPTION,0
RC2_REVERSED,0
RC2_TRIM,1490
RC3_DZ,30
RC3_MAX,2006
RC3_MIN,982
RC3_OPTION,0
RC3_REVERSED,0
RC3_TRIM,982
RC4_DZ,20
RC4_MAX,2006
RC4_MIN,982
RC4_OPTION,0
RC4_REVERSED,0
RC4_TRIM,1493
RC5_DZ,0
RC5_MAX,2006
RC5_MIN,982
RC5_OPTION,0
RC5_REVERSED,0
RC5_TRIM,982
RC6_DZ,0
RC6_MAX,2006
RC6_MIN,982
RC6_OPTION,0
RC6_REVERSED,0
RC6_TRIM,982
RC7_DZ,0
RC7_MAX,2006
RC7_MIN,982
RC7_OPTION,0
RC7_REVERSED,0
RC7_TRIM,982
RC8_DZ,0
RC8_MAX,2006
RC8_MIN,982
RC8_OPTION,0
RC8_REVERSED,0
RC8_TRIM,982
RC9_DZ,0
RC9_MAX,1900
RC9_MIN,1100
RC9_OPTION,0
RC9_REVERSED,0
RC9_TRIM,1494
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,-1
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RELAY_PIN5,-1
RELAY_PIN6,-1
RNGFND_GAIN,0.8
RNGFND1_ADDR,0
RNGFND1_FUNCTION,0
RNGFND1_GNDCLEAR,10
RNGFND1_MAX_CM,700
RNGFND1_MIN_CM,20
RNGFND1_OFFSET,0
RNGFND1_ORIENT,25
RNGFND1_PIN,-1
RNGFND1_POS_X,0
RNGFND1_POS_Y,0
RNGFND1_POS_Z,0
RNGFND1_PWRRNG,0
RNGFND1_RMETRIC,1
RNGFND1_SCALING,3
RNGFND1_SETTLE,0
RNGFND1_STOP_PIN,-1
RNGFND1_TYPE,0
RNGFND2_ADDR,0
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_ORIENT,25
RNGFND2_PIN,-1
RNGFND2_POS_X,0
RNGFND2_POS_Y,0
RNGFND2_POS_Z,0
RNGFND2_PWRRNG,0
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RNGFND3_ADDR,0
RNGFND3_FUNCTION,0
RNGFND3_GNDCLEAR,10
RNGFND3_MAX_CM,700
RNGFND3_MIN_CM,20
RNGFND3_OFFSET,0
RNGFND3_ORIENT,25
RNGFND3_PIN,-1
RNGFND3_POS_X,0
RNGFND3_POS_Y,0
RNGFND3_POS_Z,0
RNGFND3_PWRRNG,0
RNGFND3_RMETRIC,1
RNGFND3_SCALING,3
RNGFND3_SETTLE,0
RNGFND3_STOP_PIN,-1
RNGFND3_TYPE,0
RNGFND4_ADDR,0
RNGFND4_FUNCTION,0
RNGFND4_GNDCLEAR,10
RNGFND4_MAX_CM,700
RNGFND4_MIN_CM,20
RNGFND4_OFFSET,0
RNGFND4_ORIENT,25
RNGFND4_PIN,-1
RNGFND4_POS_X,0
RNGFND4_POS_Y,0
RNGFND4_POS_Z,0
RNGFND4_PWRRNG,0
RNGFND4_RMETRIC,1
RNGFND4_SCALING,3
RNGFND4_SETTLE,0
RNGFND4_STOP_PIN,-1
RNGFND4_TYPE,0
RNGFND5_ADDR,0
RNGFND5_FUNCTION,0
RNGFND5_GNDCLEAR,10
RNGFND5_MAX_CM,700
RNGFND5_MIN_CM,20
RNGFND5_OFFSET,0
RNGFND5_ORIENT,25
RNGFND5_PIN,-1
RNGFND5_POS_X,0
RNGFND5_POS_Y,0
RNGFND5_POS_Z,0
RNGFND5_PWRRNG,0
RNGFND5_RMETRIC,1
RNGFND5_SCALING,3
RNGFND5_SETTLE,0
RNGFND5_STOP_PIN,-1
RNGFND5_TYPE,0
RNGFND6_ADDR,0
RNGFND6_FUNCTION,0
RNGFND6_GNDCLEAR,10
RNGFND6_MAX_CM,700
RNGFND6_MIN_CM,20
RNGFND6_OFFSET,0
RNGFND6_ORIENT,25
RNGFND6_PIN,-1
RNGFND6_POS_X,0
RNGFND6_POS_Y,0
RNGFND6_POS_Z,0
RNGFND6_PWRRNG,0
RNGFND6_RMETRIC,1
RNGFND6_SCALING,3
RNGFND6_SETTLE,0
RNGFND6_STOP_PIN,-1
RNGFND6_TYPE,0
RNGFND7_ADDR,0
RNGFND7_FUNCTION,0
RNGFND7_GNDCLEAR,10
RNGFND7_MAX_CM,700
RNGFND7_MIN_CM,20
RNGFND7_OFFSET,0
RNGFND7_ORIENT,25
RNGFND7_PIN,-1
RNGFND7_POS_X,0
RNGFND7_POS_Y,0
RNGFND7_POS_Z,0
RNGFND7_PWRRNG,0
RNGFND7_RMETRIC,1
RNGFND7_SCALING,3
RNGFND7_SETTLE,0
RNGFND7_STOP_PIN,-1
RNGFND7_TYPE,0
RNGFND8_ADDR,0
RNGFND8_FUNCTION,0
RNGFND8_GNDCLEAR,10
RNGFND8_MAX_CM,700
RNGFND8_MIN_CM,20
RNGFND8_OFFSET,0
RNGFND8_ORIENT,25
RNGFND8_PIN,-1
RNGFND8_POS_X,0
RNGFND8_POS_Y,0
RNGFND8_POS_Z,0
RNGFND8_PWRRNG,0
RNGFND8_RMETRIC,1
RNGFND8_SCALING,3
RNGFND8_SETTLE,0
RNGFND8_STOP_PIN,-1
RNGFND8_TYPE,0
RNGFND9_ADDR,0
RNGFND9_FUNCTION,0
RNGFND9_GNDCLEAR,10
RNGFND9_MAX_CM,700
RNGFND9_MIN_CM,20
RNGFND9_OFFSET,0
RNGFND9_ORIENT,25
RNGFND9_PIN,-1
RNGFND9_POS_X,0
RNGFND9_POS_Y,0
RNGFND9_POS_Z,0
RNGFND9_PWRRNG,0
RNGFND9_RMETRIC,1
RNGFND9_SCALING,3
RNGFND9_SETTLE,0
RNGFND9_STOP_PIN,-1
RNGFND9_TYPE,0
RNGFNDA_ADDR,0
RNGFNDA_FUNCTION,0
RNGFNDA_GNDCLEAR,10
RNGFNDA_MAX_CM,700
RNGFNDA_MIN_CM,20
RNGFNDA_OFFSET,0
RNGFNDA_ORIENT,25
RNGFNDA_PIN,-1
RNGFNDA_POS_X,0
RNGFNDA_POS_Y,0
RNGFNDA_POS_Z,0
RNGFNDA_PWRRNG,0
RNGFNDA_RMETRIC,1
RNGFNDA_SCALING,3
RNGFNDA_SETTLE,0
RNGFNDA_STOP_PIN,-1
RNGFNDA_TYPE,0
RPM_MAX,100000
RPM_MIN,10
RPM_MIN_QUAL,0.5
RPM_PIN,54
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
RSSI_TYPE,0
RTL_ALT,1500
RTL_ALT_FINAL,0
RTL_CLIMB_MIN,0
RTL_CONE_SLOPE,3
RTL_LOIT_TIME,5000
RTL_SPEED,0
SCHED_DEBUG,0
SCHED_LOOP_RATE,400
SERIAL_PASS1,0
SERIAL_PASS2,-1
SERIAL_PASSTIMO,15
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,2
SERIAL1_BAUD,57
SERIAL1_OPTIONS,0
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_OPTIONS,0
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_OPTIONS,0
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,57
SERIAL4_OPTIONS,0
SERIAL4_PROTOCOL,5
SERIAL5_BAUD,57
SERIAL5_OPTIONS,0
SERIAL5_PROTOCOL,-1
SERIAL6_BAUD,57
SERIAL6_OPTIONS,7
SERIAL6_PROTOCOL,10
SERVO_BLH_AUTO,0
SERVO_BLH_DEBUG,0
SERVO_BLH_MASK,0
SERVO_BLH_OTYPE,0
SERVO_BLH_POLES,14
SERVO_BLH_PORT,0
SERVO_BLH_REMASK,0
SERVO_BLH_TEST,0
SERVO_BLH_TMOUT,0
SERVO_BLH_TRATE,10
SERVO_RATE,50
SERVO_ROB_POSMAX,4095
SERVO_ROB_POSMIN,0
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,0
SERVO1_FUNCTION,36
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1500
SERVO10_FUNCTION,0
SERVO10_MAX,1900
SERVO10_MIN,1100
SERVO10_REVERSED,0
SERVO10_TRIM,1500
SERVO11_FUNCTION,0
SERVO11_MAX,1900
SERVO11_MIN,1100
SERVO11_REVERSED,0
SERVO11_TRIM,1500
SERVO12_FUNCTION,0
SERVO12_MAX,1900
SERVO12_MIN,1100
SERVO12_REVERSED,0
SERVO12_TRIM,1500
SERVO13_FUNCTION,0
SERVO13_MAX,1900
SERVO13_MIN,1100
SERVO13_REVERSED,0
SERVO13_TRIM,1500
SERVO14_FUNCTION,0
SERVO14_MAX,1900
SERVO14_MIN,1100
SERVO14_REVERSED,0
SERVO14_TRIM,1500
SERVO15_FUNCTION,0
SERVO15_MAX,1900
SERVO15_MIN,1100
SERVO15_REVERSED,0
SERVO15_TRIM,1500
SERVO16_FUNCTION,0
SERVO16_MAX,1900
SERVO16_MIN,1100
SERVO16_REVERSED,0
SERVO16_TRIM,1500
SERVO2_FUNCTION,33
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,0
SERVO2_TRIM,1500
SERVO3_FUNCTION,34
SERVO3_MAX,1900
SERVO3_MIN,1100
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,35
SERVO4_MAX,1900
SERVO4_MIN,1100
SERVO4_REVERSED,0
SERVO4_TRIM,1500
SERVO5_FUNCTION,0
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,0
SERVO6_MAX,1900
SERVO6_MIN,1100
SERVO6_REVERSED,0
SERVO6_TRIM,1500
SERVO7_FUNCTION,0
SERVO7_MAX,1900
SERVO7_MIN,1100
SERVO7_REVERSED,0
SERVO7_TRIM,1500
SERVO8_FUNCTION,0
SERVO8_MAX,1900
SERVO8_MIN,1100
SERVO8_REVERSED,0
SERVO8_TRIM,1500
SERVO9_FUNCTION,0
SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SIMPLE,2
SPRAY_ENABLE,0
SR0_ADSB,0
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,0
SR0_POSITION,2
SR0_RAW_CTRL,0
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_ADSB,0
SR1_EXT_STAT,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_PARAMS,0
SR1_POSITION,0
SR1_RAW_CTRL,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
SR2_ADSB,0
SR2_EXT_STAT,0
SR2_EXTRA1,0
SR2_EXTRA2,0
SR2_EXTRA3,0
SR2_PARAMS,0
SR2_POSITION,0
SR2_RAW_CTRL,0
SR2_RAW_SENS,0
SR2_RC_CHAN,0
SR3_ADSB,0
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
SRTL_ACCURACY,2
SRTL_POINTS,300
STAT_BOOTCNT,7
STAT_FLTTIME,0
STAT_RESET,104123000
STAT_RUNTIME,7025
SUPER_SIMPLE,5
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_THISMAV,1
TCAL_ENABLED,0
TELEM_DELAY,0
TERRAIN_ENABLE,1
TERRAIN_FOLLOW,0
TERRAIN_SPACING,100
THR_DZ,100
THROW_MOT_START,0
THROW_NEXTMODE,18
THROW_TYPE,0
TUNE,0
TUNE_MAX,0
TUNE_MIN,0
VISO_ORIENT,0
VISO_POS_X,0
VISO_POS_Y,0
VISO_POS_Z,0
VISO_TYPE,0
WP_NAVALT_MIN,0
WP_YAW_BEHAVIOR,2
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_RADIUS,200
WPNAV_RFND_USE,1
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250

5

I also have an R9MM on SERIAL6 with the same serial params as you. When you say you get GPS, RSSI and RX voltage, do you mean on an OpenTX telemetry screen on the Taranis? The telemetry sent from ArduCopter on T6 back to the Taranis over FrSky passthrough would typically be displayed with an app such as yaapu - is that what you’re using?

With SERIAL6_OPTIONS=7 I have T6 connected to the regular S.Port pin on the R9MM (the one next to the ground pin).

My current and voltage sensing calibration parameters are different than yours. I copied mine from here.

I have RSSI_TYPE set to 2 so I can send RSSI over an RC channel and display it on the OSD. I notice you have OSD1_RSSI_EN=1 and RSSI_TYPE=0 (disabled) - do you get RSSI on the OSD?

I’m using a BN-880 mag/gps. I’ve used several of these and have mostly been happy with them. I have never changed any compass parameters in ArduCopter - 3.7dev on a Kakute F7 always seems to just do the right thing automatically.

Here is my param file.

6

Anthony,

I get GPS, RSSI, and Rx voltage on the sensors page in the Taranis model setup screens (I assume whatever script I use, or not, uses the sensors/values that have been “discovered” by the model setup page, correct?)

Script…

At the moment, I am actually using an iNav LUA telemetry script (I had iNav on the Kakute previously)…but I might switch over to another script, like yaapu, in the near future…I really don’t know how these scripts work, so I’m not sure if I MUST switch to yaapu?

S.Port pin…

Yes, I also have T6 connected to the regular S.Port pin…it’s good to know for sure that the inverted pin doesn’t need to be considered.

Current and voltage…

My current and voltage parameters/values have not been calibrated yet…thanks for the link to yours.

RSSI OSD…

I haven’t gone down the OSD road yet, so none of those parameters have been set up. Doesn’t the RSSI show up in the OSD without having to set the RSSI to 2? That’s a subject I haven’t thought about, but I’m pretty sure the iNav OSD showed RSSI?

So…

I continue to have two issues…

  1. I only get 3 “sensors” in the Tranis “discover sensors” page…RSSI, Rx Volts, and GPS…I can understand why RSSI and receiver voltage would be there automatically, as both those originate in the FrSky R9MM receiver…but why am I getting GPS, and nothing else? Doesn’t the GPS have to be"passed thru" the Kakute F7? So if I get GPS, why don’t I also get voltage, current, artificial horizon, etc?

  2. The compass is still not showing up. I’m wondering if I should try a BN-880 like you have. I wonder if anyone has an SE-100 working…

7

I’ve never used iNav so I have no idea whether the iNav telemetry Lua script would be likely to work with ArduCopter. Since it looks like you have everything wired and configured the same as me, and mine is working, I’d suggest the next step would be to install yaapu on your Taranis and see if that works. The thread here is pretty long now, and full of useful information. You could scan that and see if someone else has had a similar issue to yours.

8

Thanks Anthony.

Out of curiosity… Do you see all the “sensors” on the Taranis telemetry page?

It’s that page of course that a person navigates to by pressing MENU… Then go to page 13…then there’s a list of sensors.

9

I get same as you - RSSI, GPS, and RxBt.

10

Anthony…

Near as I can tell without writing every variation down…

“Discover sensors” (and getting them listed out) seems is only necessary if a person wants to show data on the Trananis telem screens WITHOUT a script running.

But…

If I don’t have a script running, then only 3 sensors show up.

Running a script…Flightdeck, or Yaapu, and THEN pressing “discover sensors”, makes a LOT of sensors show up.

In any case, when I installed Yaapu, all the data started coming thru to the script screen…current, artificial horizon, GPS, speeds, etc.

I had thought the scripts were accessing the sensors listed inside Taranis after a person selects “discover sensors”…but again, like I said, THAT list of sensors, displayed or not, seems independent of what a script will show…the script seems to access the sensor data BEFORE they are displayed (or not), on the “discover sensors” page.

Now I just have to get my compass working. I ordered a Beitian BN-880…maybe that will fix the problem…we’ll see.

11

quite close actually :slight_smile:

If you enable “legacy” frsky telemetry (SERIALn_PROTOCOL=4) Ardupilot generates telemetry packets picked up as sensors by OpenTX, those sensors need to be discovered, yaapu does not work with that kind of sensors.

If you enable “passthrough” frsky telemetry (SERIALn_PROTOCOL=10) ardupilot generates telemetry packets that OpenTX cannot decode, all but GPS which is sent as regular “legacy” sensor data.
With these kind of packets a script is needed to decode them.
My script exposes to OpenTX most of the data it decodes as “legacy” sensors to let users leverage the power of OpenTX custom functions/switches, that’s the reason why you can discover more sensors while my script is running,
With this kind of configuration sensor discovery is OPTIONAL

hope this makes sense now :slight_smile:
cheers,

Alex

12

Alex…thanks for that explanation…much appreciated.

Also…I was thinking about trying out one of those “Jumper T-16” radios…they have created a branch of OpenTX called JumperTX…do you imagine most/all scripts written for OpenTX will work on JumperTX?

Thanks…

13

Hi,
the JumperTX fork is mostly identical and I’d imagine that all scripts would work, but I don’t have a T16 so mine are just guesses

14

Hi Anthony…

So I installed the BN-880. The GPS works…and, it seems the compass is TRYING to work.

I get a “device I.D.” (466433), and I have data showing on the FLIGHT DATA / STATUS tab…I can see that mx, my, and mz all have values, as well as magfield (551).

But…

The words “Enable compasses” under INITIAL SETUP, GENERAL COMPASS SETTINGS, are still greyed out, which I assume is the reason I can’t check the white box next to those words.

So it seems I have made a bit of progress in getting Mission Planner to recognize that a compass is connected…but only to a partial degree?

Any other ideas?

Thanks…

P.S. Why does the heading display change in Mission Planner when the frame/flight controller is turned (but not when I turn the BN-880)? Is that using the INS? And then the display will show COMPASS data if/when a compass is recognized?

–

Bill

15

With all the checkboxes unchanged from default, run compass calibration and see if it works. I’ve never touched any of the compass check boxes when setting up a Kakute F7.

16

Thanks Anthony.

I can’t remember which boxes and such were checked by default.

Anyway, I did as you said, did a compass calibration, and…after playing with the checkboxes more, and figure out that the BN-880’s compass is “compass 1”…it seems to be working…wow.

I would say though that there seems to be a bug in Mission Planner, as I still can not check the box next to “enable compasses”, and the letters of those words are greyed out (see attached).

But…all that said, it seems like I have a working compass…thank you so much.

All I have to do now is work on PIDS (and apparently 250-sized quads are quite hard to tune, even using autotune). :slight_smile:compass%20page

17

Also…I’m 90% sure that the Radiolink SE-100 compass does NOT work with arducopter (it had been working fine with Betaflight and iNav).

If I ever figure out if the above statement is 100% correct, I’ll post back here.

18

FWIW I had a similar issue with a https://store.mrobotics.io/product-p/mro-ugps-samm8q-01.htm. Turns out the Kakute F7 build is with HAL_MINIMIZE_FEATURES which disables the drivers for LIS3MDL, AK09916 and IST8310. Since my compass is a LIS3MDL it was not detected. Removing this define from the code magically made it work again. Not sure why these drivers are turned off in this instance but since both the LIS3MDL and the IST8310 are used by a number of mRo units this seems like a mistake to me. @rmackay9 FYI.

19

Andy,

Thanks for that info.

I’m not a programmer, so could explain what you mean by “removing this define from the code”? How is that done?

Thanks…

20

In the source code libraries/AP_Compass/AP_Compass.cpp remove the #if !HAL_MINIMIZE_FEATURES at line 653 and the #endif at line 731 then build and compile for the Kakute.