Hi,
I bought APM2.5 about 1.5 months ago and it worked great until last weekend. This happened couple times: I was starting and launching my hexacopter, but it tried to skip over immediately (and I stopped the launch to avoid crash).
I checked quickly with MissionPlanner and noticed that virtual horizon was showing totally wrong orientation. The copter was level, but it showed like it was 30..45 degrees inclided. I did reboot, sometimes once, sometimes twice, and got it correct again, and I was able to fly normally. So, at that time I didn't check raw sensor values since the reboot seems to "fix" the issue.
However, yesterday morning rebooting didn't work or help anymore. When I investigated further and checked sensors values with MissionPlanner I noticed that all gyro (x, y, z) and x and z accel values stayed zero, regardless how I turned the copter (or just APM board). Accel y was sometimes zero, too, but sometimes it showed some "random" values. And obviously virtual horizon was "broken", too - it was either not moving at all, or slipping slowly to left or right (I think because those "random" accel y values?).
I have used ArduCopter 2.8.1, but tried today also 2.9-rc2, without success.
I have tried also EEPROM erase, resets, re-level, etc. Nothing helps! :-(
One interesting thing I noticed today when I run setup->level from terminal, I got couple "Failed to boot MPU6000 - retrying" messages, before it started the normal init process of gyro and accelerometer ("Init Gyro**Init Accel******** INS"). Anyway, all G_off values were 0.00, and A_off's for xyz were 0.00, 4.98, 9.81, respectively (indicating also that sensors are not giving correct values?).
I'm an embedded SW guy and have blamed hardware issues, and colleagues ;-), so many times, only to learn that almost every time the issue has been a SW or configuration bug, but somehow this starts to smell to HW issue... :o)
I have check solderings around MPU6000 chip visually, but cannot see any issues there. I also measured that chip has 3.3V on VDD pin (13), but have not checked any SPI signals, yet.
BTW, altitude/pressure sensor seems to work ok.
Anybody had similar issues? Or any ideas/hints I should still try to recover and fix the issue without replacing the HW board??
-Kari
Replies
Hi,
Tried to see what you get from the /libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde example?
(Basically you have to open that in the Arduino IDE (newest version) and upload that to the APM2. The installed firmware is overwritten, but you can reinstall that again later. Save all your parameters (from "advanced parameter list" in MP) first.)
Regards
Soren