Taker H743 BT - no logging and ELRS failsafe triggered

ArduCopter
1

Hello,

I’ve given a try ArduCopter in the drone GEPRC MOZ7 v2

the FC is Taker H743 BT GEPRC TAKER H743 BT Flight Controller — Copter documentation

the good news is that it flies and I hope it is a great foundation for a really versatile and powerful drone setup. But I’ve identified two problems:

-logging does not work. The controller has a built-in flash and no external SD card. Docs do not mentioned how to configure it. Are there any configuration options needed?

-the ELRS RX used in the drone works in the scope of RC control over Mavlink, but no Mavlink telemetry is sent. Moreover, RC failsafe cannot be used as it is triggered immediately when arming (Radio Failsafe - Disarming and Radio Failsafe - Cleared sequence). I think it might be the problem described here (the RCIN loop not fast enough?):

But what is the solution? I’ve tried different ELRS transmission rates but it did not help. ELRS does not allow for setting failsafe options other than no pulse. The same ELRS setup worked fine with INAV, including mavlink RC and telemetry.

I’ve tried ArduCopter 4.6.3 and 4.7.0 (beta and latest branches from the firrmware download). There have been many changes in the mavlink options between these versions. I’ve also set the SERIAL2_OPTIONS to include the ELRS 460 rate but it did not help.

2

I only see a firmware for a non BT version of that FC which has an Sd Card apparently.
Taker H743

No, that’s not right. It’s Sd card based flash logging. What is the LOG_BACKEND_TYPE parameter set to?

You were not the 1st to report this
Taker H743 Logging

2 Likes
3

Thanks, I was not aware of this logging type parameter. Never used a FC with flash memory (and would prefer to stay with SD cards, it’s a pity that there are still controllers without this capability).

I’ve modified the LOG_BACKEND_TYPE, tried both 4 (block) and 5 (block + file). Now with 4.7.0dev it arms even with logging enabled in the arming check, mavftp and flight plan upload/download work, but no logs are created. At least I cannot see them in the DataFlash log download dialog. Should the logs be downloaded via mavftp or dataflash log dialog?

4

What was it set to by default from the firmware flash?

5

What was it set to by default from the firmware flash?

The default was 1.

6

OK. I’m not sure actually what’s correct for Sd Card Based Flash logging. The default would imply that it’s emulating an Sd Card in flash or something like that. Perhaps Andy @andyp1per could elaborate on that?

1 Like
7

It needs to be 1. You also need to format the device before it will work so try formatsdcard from mavproxy.

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8

Thank you so much! I’ve set the LOG_BACKEND_TYPE to 1, formatted the flash memory from MavProxy and… it works! Of course I would prefer an SD card, but I don’t want to replace the FC, at least not now. Maybe this problem and the solution could be described in detail in the docs?

So the second problem: mavlink RC via ELRS triggers radio failsafe immediately. I’ve updated the firmware in Tx and Rx to the newest release (ELRS 3.6.0), tried multiple Rx of different manufacturers and models… and still the problem persists.

I think it is related to Taker H743 FC, as I’m using the same setup with Matek H743 Wing v3 and Micoair H743 AIO v2 and there are no issues. Possibly I can fall back to CRFS (not sure if it will help) but why not enjoy the great mavlink telemetry? Is this related to DMA things? What should be the settings for MAV2_OPTIONS and SERIAL2_OPTIONS? Maybe I’ll give a try to Serial1, which also should be DMA-enabled.

EDIT: tested on Serial1, and here at least it does not trigger the radio failsafe. However, the telemetry is still not working.