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    Daniel Genova
    @dangenova
    Hi everyone, I am trying to do offboard control using Mavros on a ground computer to send setpoint commands to ArduPilot. Right now I am having a hard time maintaing a consistent connection to the UAV. Does anyone have any recomendations for a telemetry setup. I currently have mRo SiK Telemetry Radio and its not great.
    L Kurt Shaw
    @hdtechk
    ,,
    marcsay
    @marcsay
    @OXINARF Hi again, regarding the NTUN parameters: PosX and DPosX may I know what unit they are in? You have mentioned that this is the EKF origin and not the absolute coordinates. Is it also correct that these parameters have been changed to PSC while viewing in MP? and that they appear as PX and TPX? PX - positionX and TPX-target position X, I am assuming?
    Max Basescu
    @mbasescu
    @
    Max Basescu
    @mbasescu
    @dangenova if you haven't already found a solution, RFD900+ (Or RFD900x, slightly newer version) radios are the answer. Drop in replacement for the mro radios, runs the Sik firmware so can be set up the same way as the mro's, and can be bumped up to 30db (1 watt) compared to the 20db (100mw) of the mro. We were having similar issues with telemetry health even when our base station was very close to the vehicle, but switching to the RFD900 gives 98% or greater telemetry strength in mission planner at over 600m for us (that's about as far as we get in our tests).
    Francisco Ferreira
    @OXINARF
    @marcsay Units are written in the log file (it depends on the version you are using), your log tool should show them. And yes, PSC has replaced NTUN.
    Matt Whitehead
    @mattWhitehead0250
    Does anybody know if it's possible to write waypoints while already running a mission in automode? Whether through a script that inputs coordinates or by some other method. I need to be able to automate this. Thanks in advance
    Peter Barker
    @peterbarker
    @mattWhitehead0250 It is.
    Matt Whitehead
    @mattWhitehead0250
    @peterbarker can you point me towards some reference material?
    Peter Barker
    @peterbarker
    @mattWhitehead0250 Not really, sorry. It's not something that's done by most users.
    auturgy
    @auturgy
    @mattWhitehead0250 there’s not really reference material, but if you dig into https://github.com/CanberraUAV/cuav/blob/master/cuav/modules/cuav_companion.py and some of the accompanying stuff it might give you an idea of what can be done via mavproxy/pymavlink.
    TunaLobster
    @TunaLobster
    Would it be possible to use an aux input pin for the FuelFlow information? I know it's on the current sense pins right now and the code in the in the AP_BattMonitor library, but maybe moving that code around? Mainly trying to keep power failsafe while having fuel telemetry on a CubeBlack.
    Notorious7
    @NoToRiOuS0007_twitter
    I want to add a new example sketch for pixhawk1 board, what changes i need to make so my new example sketch can be seen in the list of examples after executing this command ./waf list | grep 'examples'
    patrickpoirier51
    @patrickpoirier51
    BVLOS
    From FAA webinar
    MrVoltz
    @MrVoltz
    Hi, is roll/pitch control any different in Acro and Sport modes?
    MrVoltz
    @MrVoltz
    Found it, Acro uses input_rate_bf_roll_pitch_yaw, the bf means body frame; Sport uses input_euler_rate_roll_pitch_yaw, that means earth reference
    Notorious7
    @NoToRiOuS0007_twitter
    Hi guys, i need some help, to what extent i need to know or learn the ardupilot firmware for copter to remove specific codes which i don't need and add specific codes to implement something different in ardupilot copter firmware? cause im trying to learn the working of firmware from code but cause of so many backend layers of code and deep dependencies of libraries making it difficult to link every statement of code with different libraries with other, also what I'm trying to do will worth the effort and time?
    Fabian Faul
    @fabianfaul
    Hi all, I'm fairly new to Gitter. Where is the right place to ask a question about some lines in the code?
    Francisco Ferreira
    @OXINARF
    @fabianfaul Hi, welcome! The main room (https://gitter.im/ArduPilot/ardupilot) is the best if the code is ArduPilot itself.
    Fabian Faul
    @fabianfaul
    @OXINARF Thanks, didn't see that channel before :)
    Notorious7
    @NoToRiOuS0007_twitter
    I am trying to make formations with multiple drones by flying them all autonomously and controlling them in guided mode and moving them using gps, but all of them are not exactly at same height even given them command for same height, also 1-2 of them making circular path/coming back'n forth/coming up & down varying their height and position, what will be the reasons for these misbehaviors??
    Loic
    @loicspace
    @NoToRiOuS0007_twitter did you set a unique SYSID_THISMAV for each drone ? Is that behavior in SITL or with actual vehicles?
    Notorious7
    @NoToRiOuS0007_twitter
    @loicspace with actual vehicles
    They all takeoff to a same height but when i move them together like in a swarm then few of them keep changing their height slightly than other drones
    I want to control these misbehavior of those drones, but not sure how can i?
    Peter Barker
    @peterbarker
    @NoToRiOuS0007_twitter you probably need a better source of altitude data for the drones. You're probably seeing noise from the baro affecting height estimate.
    Notorious7
    @NoToRiOuS0007_twitter
    @peterbarker yeah, i doubted pixhawk1 baro too, can you suggest what kind of cheap sensor can i use for better height estimation?
    Peter Barker
    @peterbarker
    You should probably verify the theory - you should be able to check the logs to verify (plot all of the baro heights one-against-the-other when all the vehicles are supposed to be at the same height)
    Better sensor depends on environment and budget. Inside and low altitude you may get away with the low-cost laser altimeters (we're talking sub-2m here, 'though).
    Notorious7
    @NoToRiOuS0007_twitter
    @peterbarker Actually i did verified by getting the height information from pixhawks using master.recv_match().to_dict() command, they all show almost the same height but i can easily figure by looking that height of few drones varying with a difference of about 2-3 meters
    Peter Barker
    @peterbarker
    Yep, so they're maintainin what they consider to be the correct height.
    Kristjan Pihus
    @kpihus
    Hello, I have a small issue with SITL+Gazebo on different hosts.
    See my comments here: https://discuss.ardupilot.org/t/ardupilot-sitl-gazebo-on-different-computers/38502
    So I'm having a quite hard time with it. Can somebody share some light in that matter?
    Jamy Chahal
    @KiloNovemberDelta
    https://discuss.px4.io/t/sitl-with-px4-firmware-on-remote-machine/10630
    Have you tried changing " <mavlink_addr> tag in the .sdf file for the model to specifically point to the machine running the SITL" ?
    What are your command in the terminal for SITL ? The connection for Gazebo is still not working right now ?
    Kristjan Pihus
    @kpihus
    mavlink_addr ? ive changed fdm address in sdf
    Jamy Chahal
    @KiloNovemberDelta
    Yes, my bad, it is fdm address in our case
    Kristjan Pihus
    @kpihus
    yes, fdm address is correct. I'm starting SITL with: sim_vehicle.py -f gazebo-iris --console -A --sim-address=172.16.66.1
    sitl is running inside virtualbox and gazebo on host machine with ip 172.16.66.1
    but SITL still keeps hanging on message: Waiting for heartbeat from tcp:127.0.0.1:5760
    Notorious7
    @NoToRiOuS0007_twitter
    I'm operating my drone in guided mode, i found that when i give it a waypoint, it first change the nose direction to that waypoint then move to that waypoint, i want to move my drone without changing it's nose direction in guided mode, can someone suggest any way to do that or it isn't possible to do so in guided mode?
    Francisco Ferreira
    @OXINARF
    @kpihus That looks like you don't have MAVProxy installed in your VirtualBox
    Kristjan Pihus
    @kpihus
    @OXINARF it works ok when i run gazebo together with sitl inside VirtualBox, so cant be taht issue
    Fabian Faul
    @fabianfaul
    I was just wondering about something more general. As far as I know, there is no parameter for the position of the compass on the copter. Why is this not necessary?
    Akshath-Singhal
    @Akshath-Singhal
    @fabianfaul I believe the heading will be independent of the position of compass and depend only on its orientation. Can you provide a case where the said assumption is not valid if you believe otherwise?
    Fabian Faul
    @fabianfaul
    @Akshath-Singhal, not really. I'm just not sure what happens when it comes to pitching. The compass delivers 3-axis values and some will change more than others, depending on how far the compass is mounted from the flight controller. I think this is a question of how the actual heading is calculated.
    I was also wondering how exact the compass must point to the front of the copter, i.e. how exact the compass must be.
    hurowits
    @hurowits
    Hi, I have a ublox m8n rtk module. What is the correct value of EK2_GPS_TYPE?