This is a discussion to focus the feedback and support of ardupilot on the PixRacer board from AUAV.co.
We believe that all teething problems encountered are now resolved and so we recommend people load Copter-3.3.4 which is available for all multicopters through the Mission Planner's (and other GCS's) Install Firmware screens. Note that because regular Pixhawks are still on Copter-3.3.3 the install icon may show Copter-3.3.3 but rest assured, Copter-3.3.4 will be installed (you can check the version by looking at the very top of the Mission Planner).
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Hmm.... I'm stupid. I have tried now AC3.3.4-pixracer version loaded from MP screen. I see now that firmware is PX4v2 and MP top bar shows V3.3.4-pixracer. And now I was able to calibrate accel :).
But I don't see now for example MOT_PWM_TYPE option to enable OneShot. I guess it is only in 3.4dev? Am I right?
3.3.4.PNG
MP_topbar.PNG
Found "Vehicle 200" or "Getting Params 200" reason. It was OSD board (AlceOSD) connected to Pixracer Serial 2 (Telem2) port (at the front of the FC). I have tried to make an accel calibration after disconnecting OSD but same bad result - calibration failed. Is it possible to get some logs with reason of the failed calibraion? Should I just set LOG_BITMASK to "All+DisarmedLogging"?
I'm having a problem w/ 3.4, that I don't have w/ 3.3..
I have no control in any guided (autopilot assisted) modes. Stab works fine.
In guided modes, while hovering, moving the yaw, roll, or pitch sticks doesn't do anything.
This has been an issue for at least a few weeks, but no one else seems to be having it..
I've figured out if I hold the copter in my hand in alt_hold (or any guided mode) and give it WAY more throttle than it needs to hover, then it reacts to control inputs. I have the hover throttle set to 300.. the bottom end of the slider.
I thought maybe it was my config, so I started over from scratch and even with only a basic compass/accel/rc calibration and no tuning, it still does it.
I'd appreciate any advice!
To clear up some terminology, and perhaps you already know all this but just to be clear "Guided" is a flight mode that's used for Follow-Me (and other cases where the GCS or companion computer wants to control the vehicle) and the pilot normally doesn't have any control of the vehicle in this mode. I'm not sure exactly what we should call modes like "Loiter" and "PosHold" but recently I've started calling them "semi-autonomous" modes but whatever is fine.. maybe we just call them by their actual names.
I had a peek at the log and it only seems to have AltHold in it. There's one point in the log where the throttle is raised but the vehicle doesn't seem to climb. I guess this is because you're holding the vehicle. I guess... maybe a log of an actual flight would be better in helping me find the cause. I don't immediately see a parameter issue that could cause the behaviour your seeing.. so just need more logs I think to narrow down on the issue.
Thanks for looking.
The throttle is up for most of the log.. at least the 2nd log in the post w/ the chart. It is only alt-hold, but loiter, pos-hold have the same behavior.
The throttle (green line) is up to hover level by line4. Then you can see the pink line is me telling it to move, but the yellow line is it doing nothing. Until finally the throttle is raised from about 1500 to about 1600 around line 8.5, and then the motors spin up super fast and it finally starts reacting to my inputs. I don't understand why it's not doing anything before that point where I bump the throttle up a little bit more around line 8.5.
It's difficult to get a flight log in the open, because it has no control.. It lifts off but immediately starts drifting and/or flipping over. It's like the flight controller isn't trying to stabilize it in any way at that point.
I'll log what I can though.. It'll be a few short messy takeoff attempts.
I just tried the latest version and Alt Hold, Pos Hold work just fine. I do see in your log that your trying to roll and pitch but it does nothing. All your parameters look fine it just doesn't move.
I would take off in Stabilize mode and then when you have it in a spot that's comfortable switch to Alt Hold and test it. Then switch back to Stabilize and we can take another look at your log.
I did notice that the new serial 5 Baud rate parameter is set to 921600 instead of 921. The code in AP_serialmanager did not divide the 5_Baud value by 1000. This however does not cause any issues as the value comes out the same in either case.
Hey, not sure if anyone will see this a couple pages back, but I have a little more info.
I have not been able to make another log (but my 2nd above is pretty good about explaining the issue). OH, and I have done w/ Michael suggests, switching to Alt-Hold from a stable 'stabilize' mode hover... and the copter immediately flips and falls.... I'll still try to get a log sometime, but it'll be storming for the next couple days...
My additional info is that downgrading it to 3.3.4 from 3.4, the issue remains.
But, if I reset everything to defaults (which I've been told to load Plane, then back to Copter, to accomplish), then the issue is gone.
So w/ that in mind, it does seem to be a calibration issue, like a setting that's converted while upgrading to 3.4, but doesn't convert back to a 3.3 level when downgrading ?? (Random guess, but logical I guess..)
And I did notice that in 3.3, the copter does seem to 'jump' to life at a certain level of throttle. But that level is before I am hovering. while in 3.4, I am hovering before the flight controller comes alive. Hopefully that will make some sense to a developer who knows what's going on....
Here's my config and a log..
I can see that my desired roll, etc, doesn't show anything when I try to move the copter.. unless I'm giving too much throttle, then when I try to roll something actually shows up in the desired roll field.
z2.3.4.nocontrol.param
I charted some data, if that helps. And have a better log.
You can see me trying to roll left and right throughout the test, and the desired roll stays at 0. I'm holding the copter and corrected its position a couple times, which is why it rolls a couple times before about line 8 on the chart.
Then I bump up the throttle a little bit, and the motors go up very high. and at that time the copter finally responds to my input.
I'm guessing the autopilot thinks the copter is idling before that point, but it is hovering (or would be way up above the trees) by then.
2016-04-25 16-01-15.bin
I have used Auto tune and it works fine with the Pixracer. It is picky that it is in Altitude hold and that the throttle is at middle or it will not start or continue.
What I have noticed though is if I switch into Stabilize mode that my compass offset change. This does not happen with my Pixhawk unit.
So sometimes the offset become high enough that I can not arm because it says they are high even though I didn't change them directly. Only compass 1 changes even though I have 3 now.
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