EDIT 2019-07-03: NOW SOLVED. If you’re using a Holybro Pixhawk 4 with Copter 3.6.9, and an IRLOCK Pixy camera connected to the I2C A port, set the PLND_BUS parameter to 3 (this is currently not a named parameter in the firmware). This will probably work with IRLOCK compatible versions of Copter older than 3.6.9 as well, but I have not tested this. Credit to Fabian below for finding the solution.
First of all, thanks a lot to Thomas Stone who’s been helping us with the issue described below via email
Has anyone managed to get the IRLOCK precision landing system to work with a Pixhawk 4 FC, and any of the ArduCopter firmware versions?
The Pixy is working on its own fine and detecting the MarkOne V3 beacon just fine. Our problem is, we can’t get our IRLOCK Pixy camera to communicate with the flight controller successfully (It’s being powered via I2C, but something is wrong with the signal). In Mission Planner, this problem produces the “Bad Vision Position” message, and it appears in the .bin file as the PL HEAL value being 0.
We’ve tried everything we can think of: we’ve been through every relevant part of the various different documentations we can find, tried every combination of sensible (and not so sensible) PL parameters, and tried three different Pixy firmware versions, including obviously the latest and recommended one.
The Pixhawk 4 has a 4 pin “I2C A” port, and a 6 pin port labeled “UART & I2C B”, and we’ve tried running the Pixy off of both these I2C ports, and in each case, have tried all three options of the PLND_BUS parameter (DefaultBus, Internal I2C, External I2C).
Here are our FC firmware details:
FC: Pixhawk 4
FC Firmware version: 3.6.9 Pixhawk 4. We’ve also tried 3.6.3 FMUv5 (what we were on previously)
Lidar: Benewake TFMini (working with the FC and giving sound readings)
I can post more details about the Pixymon settings, but given everything we’ve tried, I was really just hoping to find out first if anyone knows for certain that the IRLOCK system can work with the Pixhawk 4 plus ArduCopter?