Should I expect a crash at some point?
Nervously I took the Spy 750 Y6 up for the first time in over 3 weeks (had a warm spell of 25F today).
In stab it flies great, then switching to poshold it seemed fine, but did the twitchy thing again for a few seconds here and there, then seemed to smooth out (subjective). I brought it down and hovered nearby where it stayed rock steady for a minute or so and landed.
So, what does it mean when INAVerr goes to 255 and stays there? From what I understand it is the FC not receiving data from the GPS properly. Apparently this copter has done it from day one since transplanting the PIxhawk and running on AC3.2 and 3.2.1, with the 3DR GPS and the current CSGShop Neo-M8N. These errors did not exist on the Y6B with 3.1.5 and the 3DR GPS.
Any help is appreciated.
Replies
In the case of an EKF, a value of 1 indicates that the state estimator believes that the GPS is giving "good" data. If your GPS data was very erratic, that value should fall to near zero. Occasionally missing a sample may not effect this "rating" in any meaningful way if the remaining readings are consistent with the rest of the data from other sensors.
This is an completely different than the old INAVerr.
Ah ok cool cheers, I am sticking with 3.2 for a bit until 3.3 is released proper for my VR ubrain on by octa quad running the ublox 8, but hopefully everyone will be getting 1 and hopefully the 255 issue is a red herring/false negative issue. or some sort of proper guidance to resolve if it is an issue comes out for people to fix.
Interesting that you don't see any more these INAVERR with this beta version 3.3 for VRBrain
Buf difficult to know if there are in this version changes for INAVERR reporting
Is they still report this error or not....
PS: last branch for Ardupilot code is 3.2.1 https://github.com/diydrones/ardupilot/tree/ArduCopter-3.2.1
An then af course the one in Master branch
Thanks for attching your log
Could you please attach this 3.2 Arducopter log using 3DR Ublox 6 GPS and INAVERR ramping up to 255 (which is the max value )?
Thanks
I just went through logs for my 200mm quad that also has a ubrain, but is running a verion of 3.3 (must be a beta :)) and the newer 5.2 bootloader, and I have just done a random check of 6 or so files and none show the issue with the old ublox 6. Not conclusive, but I will keep checking. Maybe its been sorted in 3.3.
attached is the log with the ublox 6 and yes it ended up at 255
www.rabbitstu.co.uk/SBQ/52.BIN
@Stuart Brookes
Thanks for posting infos,
Another guy Mlebret posted the same results on two of his multirotors,with 2 different VRBrain boards, and 2 GPS (VR and RTFQuad)
But as I mentionned to Randy , this INAVERR error reported in logs is also occuring with 3DR LEA 6H GPS
So even with 3DR GPS, logs are showing up to sevral hundred of times missed GPS updates !
I think this problem should be investigated and understood
But no news or updates from Randy or other devs...
No Worries,
based on what you just said I just cheked an older log from when I was using the 3DR ublox 6...and yes it had the issue too. Ramps up to 255 early in the log, Both on Firmware 3.2
I didn't understood that https://github.com/diydrones/ardupilot/issues/1972 was opened to to modify INAVERR counter from 8 bits top 16 bits
I will suggest to Jdennings who opened the ticket to open another one( or modify this one title) as this error is showing with 3DR LEA 6H GPS we can get very high numbers of errors for these GPS Updates
As this INAVERR is meaning that inertial nav has not received a GPS update within 0.3 seconds , I agree with you that the GPS could be running sometime very slowly (at 3.33 hz or less frequency)
But as Lea 6H GPS is being set at 5hz upadate , I doubt GPS will update several hundred of times at 3hz and in between recovering to normal updates
Seems more to me that code is missing from time to time GPS updates
Of course not really easy to see degradation on EKF results and flights performance (remenber some twitching was reported by some users ), but If GPS messages are missed several hundred of times with 3DR GPS, this is bad
I think this problem should be investigated to nail why GPS updates are missed by code
Forgot to add that in the logs there were not GPS message like "bad GPS health" or others errors pointing to a GPS errors
I havebt digested this or INAVERR posts but as I was seeing these posts I thought I'd check the logs of mine. I don't have a particularly promlematic loiter the odd twitch.
I am running the virtual robotix Ublox neo 8 and the specs say it has 5Hz update rate, I guess even before arducopter reconfigures it. I am running a virtual robotix microbrain with 5.1 bootloader, and some of my logs show high INAVERR, some don't, some step up a couple of times, some keeping ramping up to 255 early in the log.
As I said I haven't noticed particularly poor loiter, if amything though when tuning I increased GPS weighting.
My post is for info and comparison with other peoples setups., as my setup is slightly different but has the same issue, the common things being arducopter and the ublox 8 but in slightly different forms.
@Randy
Thanks for your answer
The problem is also occuring with 3DR GPS LEA 6H as mentionned in some threads.
Sometime also INAVERR went to max value of 255
http://www.rcgroups.com/forums/showpost.php?p=31027087&postcoun...
http://www.rcgroups.com/forums/showpost.php?p=31030526&postcoun...
http://diydrones.com/forum/topics/arducopter-3-2-1-beta-testing?id=...
http://diydrones.com/forum/topics/gps-issues-do-i-need-a-gps-ground...
Related ticket: https://github.com/diydrones/ardupilot/issues/1972
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