UWB Nooploop Linktrack not displaying position in mission planner

ArduCopter Copter 4.6
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1

Hi All,

I am trying to connect the nooploop linktrack P-B tag system to my drone with 4 linktrack P-A anchors. Upon direct connection between tag and the flight controller (Cube orange+ with mini carrier board) i can see that the flight controller receives the tag position data in the logs and i can see the correct logs for D0, D1, D2, D3 and also pos xyz. However, this position is not displayed live in the ground control station (using mission planner but Qground control also faces the same issue)

I believe it may be an issue with the EKF of ardupilot where it does not classify the beacon data as correct position source but im not sure as this is supposed to work straight out of the box right ??

Has anyone successfully used this for actual position estimate instead of gps? Can you please give me some guidance as to where I should look into ??

Your help would be deeply appreciated. I’ve attached a log below as well of one of the bench tests i did with working BCN logs.

Working_log_google_drive_link

Thank you!

2

Please stop duplicate posting.

3

Hello, apologies,

No1 has replied to my message on the other post and since it’s been so many years since it was last discussed I figured a new post more specific would be helpful

4

First of all, I am no expert but looking to your log I have some remarks to your params:

  • why you disable all arming checks, enabling arming checks can help to find errors.
  • why you use the beacon for altitude if you have an barometer on board. In AHR2 ALT still the BARO information seems to be used.
  • why you don’t follow all settings shown in the wiki Nooploop for Non-GPS Navigation — Copter documentation
5

I disabled arming checks initially since I was just doing bench testing and wanted to collect some logs when the vehicle was armed and moved the drone around a bit to get the bcn position updates.

I initially followed the same parameters as the tutorial but that did not yield any results and hence changed some parameters.

None of these changes seems to have fixed the position not being detected in mission planner.

Can you confirm if these settings i’ve put in Nassistant for the anchors are right in particular the anchor as there’s no information on them:

ANCHOR SETTINGS

ID: 0,1,2,3 for 4 anchors

Protocol: Anchor_frame0

Baudrate: 921600

Update rate: 25

Mode: LPMODE0

TAG SETTINGS (Following Ardupilot Nooploop tutorial)

ID: 0,1,2,3 for 4 anchors

Protocol: Node_Frame2

Baudrate: 921600

Update rate: 25

Mode: LPMODE0

Math model: MATH_MODEL2

Filter Factor: 0

6

That’s fine. Stop dredging up every related topic.

7

If you want to have logs on bench tests you can enabled logging also if the FC is not armed by
LOG_DISARMED set to 1.
From your log I think communication between the anchors, tag and FC is principle working as it shows some values. Was your drone near to anchor 0 all the time on the line from anchor 0 to anchor 1?

8

Yes it was next to anchor 0

9

I would use

  • first all settings like shown in the wiki
  • barometer for height.
  • enable all arming-checks
  • enable logging while disarmed
  • place the drone in the middle of the anchors on ground
  • try to arm
10

I’ve done all of the above, and still no luck getting the position updates. Moreover, i can’t seem to get consistent recording of the bcn logs as well.

This UWB nooloop system seems really unreliable in ardupilot as its not consistent in every test.

11

Do you have a log file of this test