At least you have GPS working now so it shouldn’t fly away…
But you have these messed up:
MOT_SPIN_ARM,0.95
MOT_SPIN_MAX,0.6
MOT_SPIN_MIN,0.1
Set them back to default.
Should be something like this:
MOT_SPIN_ARM,0.09
MOT_SPIN_MAX,0.95
MOT_SPIN_MIN,0.12
What makes you think the Fence doesnt work?
When it is enabled it can take quite a while sitting on the ground before you get a “green light” and solid 3D Fix before being allowed to arm and fly - even in non-GPS modes. It’s easy to get impatient with the waiting at first, but in future you’ll be thankful you did. You know the home position is good before you fly.
Try setting GPS_GNSS_MODE,65 for a slightly quicker fix and a more consistent GPS update rate.
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Thanks, I’ve reset the MOT_SPIN values.
Yea, the Fence took a long time and i disabled it as I could not get two greens. After the last post I did some more testing and found that the fix took loooong initially but once I have greens Fence works.
L
OK, to make double sure I did not miss anything, I reloaded the board again. I had issues with the fence not working.
These are the settings I set once everything was calibrated.
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BRD_SAFETYENABLE,0
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BRD_BOOT_DELAY,500
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GPS_TYPE, UAVCAN
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BATT_CAPACITY,0
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BATT_FS_CRT_ACT,1
-
BATT_FS_LOW_ACT,2
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FENCE_ACTION,1
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FENCE_ALT_MAX,20
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FENCE_ENABLE,1
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FENCE_RADIUS,50
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FENCE_TYPE,3
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MOT_SPIN_ARM,0.1
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MOT_SPIN_MIN,12
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Setup hardware
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Mission Planners Alt > A
a. Run through script
The current log, mm, no log. I’ve included a pic from the CGS.
(https://drive.google.com/file/d/1W8d5Ws9LqgQOH-7ZJydU7DfmYN3sel-Y/view?usp=sharing)
The issue I currently sit with is that the LEDs on the Here3 GPS flashes BLUE on bootup, then switches off. Looking at the GCS I doo get a fix after a while but this is not shown in the LEDs.
Then, FENCE reports that it needs a position before it will arm the system. This does not go away even if I leave the drone powered up for 30mins.
I think I am missing something.
L
MOT_SPIN_MIN must be 0.12 instead
Yea, I know, thanks. It’s a typo in my notes. OT_SPIN_MIN is set to 0.12
I still have the issue that the LEDs don’t come on and the fence still does not allow me to arm the craft. See edited notes above.
L
The craft will be armable as soon as you get GPS reception and 3D fix
That’s exactly the issue. Have a look at the garfic. I have 3d fix but fence is an issue
L
When the Here3 LEDs do that it means there is power but no CAN bus.
Check CAN settings, BRD_BOOT_DELAY and which connector the GPS is plugged into.
Thanks
The funny thing is that I do get a 3d fix. In the photo, you can see the satellite count is 8 and there is a 3d fix. It’s just that fence requires a position, although the position sown on the map is correct.
(https://drive.google.com/file/d/1W8d5Ws9LqgQOH-7ZJydU7DfmYN3sel-Y/view?usp=sharing)
It’s only after the reset that the GPS LEDs don’t function. It’s still connected to CAN2, GPS is set to UAVCAN, etc. Very odd.
L
Do you have BRD_BOOT_DELAY,5000 ?
AT LAST !!!
OK. Now I have something I can work with.
To set up the Cube I had to do the following, in this order (steps 14 - 16)…
- ARMING_CHECK, (No external switch, no GPS programming)
- BRD_SAFETYENABLE, 0
- BRD_BOOT_DELAY, 5000
- CAN_P1_DRIVER, 1 & CAN_P2_DRIVER, 2
- GPS_TYPE, 9 (use CAN GPG)
- NTF_LED_TYPES, 231 (enable CAN GPS LEDs)
- FENCE_ACTION, 1
- FENCE_ALT_MAX, 50
- FENCE_ENABLE, 1
- FENCE_RADIUS, 100
- FENCE_TYPE, 3
- MOT_SPIN_ARM, 0.1
- MOT_SPIN_MIN, 0.12
14. Mission Planners Ctrl-F, reboot
15. Setup hardware (Compass, radio, ESC, etc)
16. Mission Planners Alt-A, run through script - BATT_FS_CRT_ACT, 1
- BATT_FS_LOW_ACT, 2
Thanks, everyone for all the help and advice.
L