Plane 4.3 stable release

ArduPlane Plane 4.3
43

this is what i got with VTX connected and FC battery powered

Auto-detected serial ports are:
COM3 : ArduPilot (COM3) : USB VID:PID=1209:5741 SER=45003D0008504D4254393920 LOCATION=1-1
Connecting to COM3 : ArduPilot (COM3) : USB VID:PID=1209:5741 SER=45003D0008504D4254393920 LOCATION=1-1
Connect COM3 source_system=255
Loaded module graph
Loaded module console
Loaded module map
Running script (C:\Users\Jazzplane\AppData\Local.mavproxy\mavinit.scr)
Loaded module help
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from COM3
Device COM3 is dead
Device COM3 reopened OK
Detected vehicle 1:1 on link 0
paramftp: bad count 1114 should be 1108
Received 1114 parameters (ftp)
Saved 1114 parameters to mav.parm
Saved 1114 defaults to defaults.parm
Set vehicle 1 (link 1)
Loaded module horizon
Unloaded module horizon

44

Urg, I see the problem - it’s only enabled on boards >1Mb - you would need to use the custom firmware builder to get a build

45

does that mean F405wing not supported. and F765wing supported? it need FC with 1M above?

46

Here is a build with it enabled - it just fits

arduplane.apj (864.1 KB)

47

thank you for your build. I just tried it. looks like still not working. the power number still flashing on the screen.vtx showes no changes.

48

Here is a version with debug on, please try with mavproxy and see what the output shows:

arduplane.apj (862.7 KB)

49

Auto-detected serial ports are:
COM3 : ArduPilot (COM3) : USB VID:PID=1209:5741 SER=45003D0008504D4254393920 LOCATION=1-1
Connecting to COM3 : ArduPilot (COM3) : USB VID:PID=1209:5741 SER=45003D0008504D4254393920 LOCATION=1-1
Connect COM3 source_system=255
Loaded module graph
Loaded module console
Loaded module map
Running script (C:\Users\Jazzplane\AppData\Local.mavproxy\mavinit.scr)
Loaded module help
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from COM3
Detected vehicle 1:1 on link 0
Received 1124 parameters (ftp)
Saved 1124 parameters to mav.parm
Saved 1124 defaults to defaults.parm

this endless message repeatedly showing
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0
TRAMP: send command ‘r’: 0

50

Your VTX is not responding - what VTX is it?

51

The VTX is foxeer clearTX2

sorry this was not the one I tried before. it is smartaudio. let me check with another one

52

Sorry, my mistake. this firmware is working. it is not everything working though, I have tried most of set of VTX_option. and serial_option.there are something can’t get work.

1, power osd number still flashing(smartaudio is not)
2, power lever tramp changes differnet from the indicator on the vtx.
3, power min to max setting changes after setup on mission planner.

53

Sorry you will have to give a more detailed explanation of what is not working

54

anyway. The power level changes when the pwm changes. but it changes not accordingly with the setup. for example, the osd show 25mw it could change or change to other levels or not change at all. I tried most of setting but can’t find a clue.

please correct me if I am wrong about it, the osd for the power level should not be flashing.

|VTX_MAX_POWER|1000|
|VTX_OPTIONS|1||4||5||12| tried all of them.
|VTX_POWER|25| can’t be set. it changes randomly

|SERIAL4_BAUD|115|
|SERIAL4_OPTIONS|4|
|SERIAL4_PROTOCOL|44|

55

If power flashes in the OSD that means the VTX was not able to provide the power you have requested. Is this a locked VTX? It’s not limited to 25mw is it?

56

it is hifionrc tanso VTX 1W. and it is not locked. or the switch on the board will not be changed I guess. the band,frequency and power can be changed by the switches. and the currency is changing while power is changing. also, I have put Unlocked on the VTX_option.

57

Ok, so please can you send the output of mavproxy with that debug build when the OSD is flashing? Let’s see why it is upset.

58

Here they are. please check.

The messages repeatedly are showing

…
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘P’: 400
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘P’: 1000
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
…

59

ArduPilotPlanePorter
ArduPilotPlanePorter750×316 48 KB

I’ve just released plane 4.3.1 stable. This is a minor release with a few important fixes:

  • fixed build with gcc 11.3
  • fixed random number generator in lua core
  • scale VTOL angle P with airspeed in quadplane back-transition
  • added support for implementing AUX functions in lua scripts
  • fixed BMI085 accel scaling
  • fixed KSXT NMEA parsing affecting position resolution
  • fixed race condition in TECS control leading to ‘nod’ in forward transition
  • allow for expansion of notch filters to fix notch of fwd motors in quadplanes
  • added logging of TECS target alt
  • fixed EKF3 altitude discrepancy with GPS or baro alt change on startup
  • allow auto mode sequencing to land in a fence breach

The most noticeable change will be for users flying medium to large quadplanes (say over 30 kg). There was a problem with pitch oscillations in the back transition for auto landing on some aircraft. That should be fixed in this release, making the auto landings a lot smoother.

Happy flying!

8 Likes
60

Cheers Tridge,awesome what you do for us,thank you from the bottom of my heart

61

Ok, it appears to be alternating between sending power for 1000mw and 400mw. Please can you send the whole output from startup? Also the power you want is 25mw right? What power levels does the VTX support?

62

Running script C:\Users\Jazzplane\AppData\Local.mavproxy\mavinit.scr
→ set moddebug 2
→ module load help
link 1 down
AP: ArduPlane V4.3.1beta1 (46823367)
AP: ChibiOS: 66e5de0d
AP: MatekF405-Wing 004B0045 4D4D5007 2035394E
AP: RCOut: Initialising
AP: IMU0: fast sampling enabled 8.0kHz/1.0kHz
AP: Calibrating barometer
link 1 OK
online system 1
Mode INITIALISING
AP: ArduPlane V4.3.1beta1 (46823367)
AP: ChibiOS: 66e5de0d
AP: MatekF405-Wing 004B0045 4D4D5007 2035394E
AP: RCOut: Initialising
AP: IMU0: fast sampling enabled 8.0kHz/1.0kHz
AP: ArduPlane V4.3.1beta1 (46823367)
AP: ChibiOS: 66e5de0d
AP: MatekF405-Wing 004B0045 4D4D5007 2035394E
AP: RCOut: Initialising
AP: IMU0: fast sampling enabled 8.0kHz/1.0kHz
TRAMP: port opened
AP: Barometer 1 calibration complete
AP: No airspeed sensor present or enabled
AP: ArduPilot Ready
AP: AHRS: DCM active
AP: RCOut: DS150:1-2 PWM:3-9
TRAMP: send command ‘r’: 0
AP: RunCam initialized, features 0x0077, 2-key OSD

TRAMP: device limits: min freq: 5100, max freq: 6000, max power 600
TRAMP: receive response ‘r’
TRAMP: status: INIT
AP: Throttle failsafe on
AP: RC Short Failsafe On
AP: Flight mode = CIRCLE
TRAMP: send command ‘v’: 0
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
AP: VTX: F4 5800MHz, PWR: 0mW
TRAMP: send command ‘P’: 1000
TRAMP: status: ONLINE_CONFIG
Mode CIRCLE
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
Flight battery warning
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
AP: CRSFv2: requesting RX device info
AP: RCInput: decoding CRSF(3)
AP: ELRS: custom telem init done, fw 0.00
AP: Throttle failsafe off
AP: Short Failsafe Cleared
AP: Flight mode MANUAL restored
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
AP: NON AUTO TERRN: ON
AP: RunCamControl LOW
AP: ELRS: RF Mode 4, telemetry rate is 149Hz
AP: ELRS: running on non-DMA serial port
AP: ELRS: RSSI now displays normally
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
Mode FBWA
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘P’: 400
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
AP: GPS 1: detected as u-blox at 230400 baud
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘P’: 1000
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
AP: ELRS: RF Mode 4, telemetry rate is 85Hz
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 1000, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘P’: 400
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: receive response ‘s’
TRAMP: status: ONLINE_MONITOR_TEMP
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: send command ‘I’: 0
TRAMP: status: ONLINE_CONFIG
TRAMP: send command ‘v’: 0
TRAMP: status: ONLINE_MONITOR_FREQPWRPIT
TRAMP: device config: freq: 5800, power: 400, pitmode: 0
TRAMP: receive response ‘v’
TRAMP: send command ‘s’: 0
TRAMP: status: ONLINE_MONITOR_TEMP