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    Ebin Philip
    @EbinPhilip
    if you're using a pixhawk, i think this one would be fine
    arnav dhamija
    @shortstheory
    Looks decent. It's close to the price of an ESC and I might be better off upgrading all the ESCs to a better kit though.
    Ebin Philip
    @EbinPhilip
    arnav dhamija
    @shortstheory
    I believe I am vaguely familiar with that :)
    Ebin Philip
    @EbinPhilip
    @bugobliterator do you think the telemetry radio would cause a problem with customs?
    arnav dhamija
    @shortstheory
    It will, anything below the 1000MHz spectrum will. Better to just get it from quadkopters.com
    Siddharth Bharat Purohit
    @bugobliterator
    @EbinPhilip yes, if its below 2.4GHz
    like 900MHz is definitely not going to clear customs without WPC approval, which if you are super lucky will be processed by the end of GSoC Submission :)
    Ebin Philip
    @EbinPhilip
    Hmm.. these customs guys sure are a pain. Yesterday I received 2 nextion screens I ordered from banggood in June 2017. I actually took it thinking it was a motor I had ordered this March. I wonder when that's gonna come :worried:
    Siddharth Bharat Purohit
    @bugobliterator
    Did you use EMS?
    Ebin Philip
    @EbinPhilip
    I think so. It came via India post
    Siddharth Bharat Purohit
    @bugobliterator
    yeah that explains it, they are generally fast but when they delay they delay big
    Ebin Philip
    @EbinPhilip
    Yeah but we'll rule out importing the radios for gsoc
    arnav dhamija
    @shortstheory
    What are you planning to import anyway?
    Siddharth Bharat Purohit
    @bugobliterator
    There are options available in indian market
    Ebin Philip
    @EbinPhilip
    Telemetry radio. Randy was gonna send me one. @bugobliterator yup, I'll look into those. Thanks
    Ayush Gaud
    @ayushgaud
    Hi Guys, I have been trying to use gazebo SITL but whenever I take off the iris quadrotor starts to drift. I have tried tuning the gains but that didn't help. Do you guys have any suggestions? @tridge, @jmachuca77 told me that you believe it has something to do with Lockstep scheduling. You can find a video of it here If you need the log file I can also forward it to you.
    Also, I forgot to mention, in the video I have set it to loiter mode and given takeoff command for 2m
    Francisco Ferreira
    @OXINARF
    @khancyr have you tried Gazebo with Copter recently? Maybe you can help @ayushgaud with his issue above
    Pierre Kancir
    @khancyr
    I haven't try recently, I will try to look at it this week
    Andrew Tridgell
    @tridge
    @ayushgaud please try with AHRS_EKF_TYPE=10 and see if it is better, that will help diagnose issues
    Ayush Gaud
    @ayushgaud
    Thanks @tridge I tried your suggestion and it worked! Although the drone sometimes still suddenly comes crashing to the ground and then again goes back to stable flight. The frequency of this happening is low and I couldn't record a video but I'll share it if it happens again.
    Quick question, how do we increase the rate at which mavlink publishes the data when using gazebo-sitl?
    Andrew Tridgell
    @tridge
    given that AHRS_EKF_TYPE=10 helped, then I expect the problem may be with the gazebo setup not using lock-step scheduling
    as long as AHRS_EKF_TYPE=10 suits your work then you could keep using it. Note that it bypasses the EKF
    the position, velocity and attitude data come straight from gazebo, rather than being estimated by the EKF
    Pierre Kancir
    @khancyr
    @ayushgaud did you launch gazebo with --verbose ? I wonder if the crash isn't just a desync between gazebo and SITL ? try to look on gazebo terminal if you get message like "connexion lost, resetting motor/position" or something like that
    What version of gazebo are you using ? 7 - 8 - 9 ?
    from ROS or OSRF repo ?
    Ayush Gaud
    @ayushgaud
    Hi @khancyr I had enabled the verbose flag but I didn't saw any such errors. I am using Gazebo7 from ROS repository
    Ayush Gaud
    @ayushgaud
    @tridge is it possible to enable lockstep scheduling since I want to test the code for mapping and planning which is highly dependent on the quality of the state estimates. With the ideal odometry from Gazebo I think, I will not be evaluate these algorithms properly which might increase the risk of these failing on the hardware platform. For now I will use AHRS_EKF_TYPE=10 but I would still like to figure out a solution so that we can enable EKF in the SITL mode. I'll also try to add some noise to the gazebo sensor plugins for now to make it as close to the real system as possible.
    Pierre Kancir
    @khancyr
    ok ! update the gazebo by using OSRF repository : http://gazebosim.org/tutorials?tut=install_ubuntu, you can keep version 7 ! just update it !
    I will look at the stability problem
    Ayush Gaud
    @ayushgaud
    @khancyr I have updated gazebo but I see no difference. Without AHRS_EKF_TYPE=10 the drone still drifts.
    Pierre Kancir
    @khancyr
    @ayushgaud hello ! I just check and it is working both with gazebo 7 and 8
    and following the instruction to set up the good path for gazebo model and world
    then gazebo --verbose worlds/iris_arducopter_demo2.world to launch a copter
    sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map on ardupilot side
    Pierre Kancir
    @khancyr
    and AHRS_EKF_TYPE = 2
    Ayush Gaud
    @ayushgaud
    Thanks @khancyr for sharing this. I am using the same ardupilot_gazebo package but the swiftgust fork. With AHRS_EKF_TYPE = 10 I have recorded how the done still sometimes crashes to the ground. video
    Ayush Gaud
    @ayushgaud
    What exactly is the difference between your and swiftguest repository?
    Ayush Gaud
    @ayushgaud
    With AHRS_EKF_TYPE = 2 the drone is still unstable and I am observing lateral drifts
    Pierre Kancir
    @khancyr
    check that the iris model that your are using is using ardupilotplugin and arducopterplugin
    Ayush Gaud
    @ayushgaud
    Yes it has libArduPilotPlugin.so included in the model.sdf file. I also added a stereo camera later on which is working fine.
    Pierre Kancir
    @khancyr
    weird. you are on a mac ?
    Ayush Gaud
    @ayushgaud
    Nope, Ubuntu
    Ayush Gaud
    @ayushgaud
    Hi Guys, does anyone know how to change the default gazebo ip address and port for using SITL with Gazebo running on a remote machine?