Discussions

PixRacer with Ardupilot

Posted by Randy on February 9, 2016 at 4:47pm

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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apm:copter, arducopter, ardupilot, pixracer

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Replies

- - Developer
    Andrew Tridgell > Randy April 23, 2016 at 12:03am
    
    latest UAVCAN is in master. If its not working then check the following:
    
    that you have set BRD_CAN_ENABLE=1
    
    that you have set GPS_TYPE=9
    
    that you have assigned a nodeID to the device (see manual)
    
    Note that you can try BRD_CAN_ENABLE=2 to auto-assign a CAN nodeID, although I haven't tested that myself.
    
    Also note that you need to reboot the board after changing BRD_CAN_ENABLE.
    - Randy Bachtell > Andrew Tridgell April 23, 2016 at 2:38pm
      
      Thanks for the quick response. I have done some testing between my hex/pixhawk and the pixracer using the same GNSS2 unit. I uploaded the latest 3.4 Dev to the pixhawk and uavcan communication is good, the system works just as it did with the firmware I have been using supplied by Pavel. When I switch the GPS to the racer, enable uavcan and set parameters just as in the hawk I get the message on GCS "GPS 0 detected as PX4" repeating to infinity. No GPS signal and no compass from gnss unit.
      R
      - Developer
        
        Andrew Tridgell > Randy Bachtell April 24, 2016 at 3:07am
        
        Can you check the pinout of the canbus cable. Some cables may have been sent out with wrong pin ordering.
        
        Next, start a nsh over MAVLink shell and run the command "uavcan status" and show us the result.
        
        Thanks!
        
        Randy Bachtell > Andrew Tridgell April 26, 2016 at 8:16am
        
        Andrew, here is the result
        
        nsh>
        UAVCAN status
        UAVCAN: application not running
        
        Randy Bachtell > Andrew Tridgell April 25, 2016 at 6:42pm
        
        The cable checks out OK. I can't get the terminal to work in APM Planner so will have to wait until tomorrow until I can get on a Windows machine with MP. I will let you know, thanks again
Developer

Randy April 22, 2016 at 7:10pm

Small update from Paul Riseborough regarding the sudden-roll-after-takeoff issue. It seems a bug in the EKF is somewhat likely and it probably only happen if you take-off without GPS lock and then gain GPS lock soon after.

So if you want to avoid the problem, waiting until you have GPS lock before take-off is a good idea. Note that I say, "wait for GPS lock" but to be more precise, it's actually "wait for the EKF to get a position estimate". You can ensure this is the case by arming in a mode that require the EKF's position estimate like Loiter or PosHold.
- Michael Burmeister > Randy April 23, 2016 at 5:43am
  
  Nice to know it wasn't me causing the issue. I thought maybe I was on drugs or something.
  
  So if you fly without a GPS it should work just fine as well...
  
  On another note it seem the Pixracer has LED's on the mother board not connected to the I2C bus. They need to be turned on directly. Since the code makes no distinction of that only the external LED's work. On the PX4 stack they use an RGBled driver to control them. Is this on the list to get working. It would be nice to see if I have a GPS lock.....
This reply was deleted.
- Mariusz April 24, 2016 at 4:00am
  
  I have the same problem. Pixracer accelorometer cannot be calibrated in MP but even in QGC it is not possible. Need some idea how to fix it.
Edgar Scott April 22, 2016 at 8:58am

The only thing I am missing is a osd, does the pixracer support a small osd and if so what one.
- Moderator
  
  Graham Dyer > Edgar Scott April 22, 2016 at 11:43am
  
  @Edgar: Micro MinimOSD should work fine, really small, cheap, fairly robust and all the features of MinimOSD. You can parallel it with telemetry if needed. http://www.readytoflyquads.com/micro-minimosd