Upload Builded firmware to CubeOrange+

ArduCopter
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1

hi everyone,

i built ardupilot from the official github repository on linux (latest master branch). i made some small changes to the existing ac_sprayer module — mainly tweaking the logic and renaming a few parameters. i didn’t add a new module or change anything in copter.cpp.

i built the firmware using:
./waf clean
./waf configure --board CubeOrangePlus
./waf copter

then i transferred the generated arducopter.apj file to my windows pc and flashed it to my cube orange+ using mission planner (load custom firmware). the flashing process completes successfully.

after rebooting the cube, mission planner fails to connect. it shows “no mavlink heartbeat packets were read from this port” and repeatedly gives “bad parameter table” errors. i’ve confirmed that the correct com port is selected and the baud rate is 115200. i also tried different usb cables and ports.
i suspect something in my changes caused the firmware to not boot properly or the way i load the firmware is not correct.any advice on how to confirm if my firmware is running or how to properly include sprayer changes would be really appreciated.

thanks in advance

2

bad param table means that you made some mistakes while changing the parameters.

  1. test in sitl
  2. build a debug version, that will give a detailed error on the parameters module. (Enable debug in line 62 of AP_Param.cpp
  3. changing already existing param names is a bad idea.
1 Like
3

changing already existing parameters is absolutely a bad idea. when i tested in SITL, i saw that the problem was caused by renaming a parameter, which led to the error. i restored the original parameters and added my own new ones. it is working very well now — thank you!!