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    aaaaaaudrey
    @aaaaaaudrey
    I just bought some RFD900x and am wondering if they work with mavlink2
    obviously it's just serial, so it'll work, but I'm specifically wondering about the mavlink framing
    ardupilotbot
    @ardupilotbot
    [Jeff Wurzbach] They do
    Gizm0San
    @Gizm0San
    Hey guys, im trying to get my plane to hold altitude when passing through waypoints - according to this: https://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-waypoint
    and when i set waypoint altitude to 0 it does descend to 0 instead of holding, has anyone encountered this ?
    PolakPL2002
    @PolakPL2002
    @Gizm0San In docs for plane this parameter is described differently (just Target altitude)
    https://ardupilot.org/plane/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-waypoint
    Gizm0San
    @Gizm0San
    Thanks Polak, i understand, is there another way to achieve what i described with a plane ? a "global" altitude command or a way to "ignore" waypoint altitude when using Auto mode?
    and another question - is there a way to configure the Pixhawk to switch to Auto mode automatically when AFS_Enable is on and it lost link with GCS while in guided or FBW_B?
    marcsay
    @marcsay
    image.png
    Hi would you happen to know if the encircled can be changed? or would you happen to know what they mean?
    PolakPL2002
    @PolakPL2002
    @marcsay
    GPS: Information received from GNSS systems attached to the autopilot
    GPS2: Information received from GNSS systems attached to the autopilot
    POS: Canonical vehicle position
    GPSB: Information blended from GNSS systems attached to the autopilot
    Source: https://ardupilot.org/copter/docs/logmessages.html
    marcsay
    @marcsay
    Thank you for this @PolakPL2002 , would you happen to know what canonical vehicle position means as compared to the actual GPS coordinates?
    PolakPL2002
    @PolakPL2002
    I don't know, but I can guess that this is position that is combined from all available data sources and copter uses it to navigate. But that's just my guess, I have no source to support it.
    PolakPL2002
    @PolakPL2002

    @Gizm0San
    In copter waypoint is pre-processed and fragment of code which makes it hold altitude if 0 looks like this:
    ArduCopter/mode_auto.cpp:

    Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd) const
    {
        Location ret(cmd.content.location);
    
        // use current lat, lon if zero
        if (ret.lat == 0 && ret.lng == 0) {
            ret.lat = copter.current_loc.lat;
            ret.lng = copter.current_loc.lng;
        }
        // use current altitude if not provided
        if (ret.alt == 0) {
            // set to current altitude but in command's alt frame
            int32_t curr_alt;
            if (copter.current_loc.get_alt_cm(ret.get_alt_frame(),curr_alt)) {
                ret.set_alt_cm(curr_alt, ret.get_alt_frame());
            } else {
                // default to current altitude as alt-above-home
                ret.set_alt_cm(copter.current_loc.alt,
                               copter.current_loc.get_alt_frame());
            }
        }
        return ret;
    }

    You can add something to AP_Mission to fulfill your requirements. If I traced correctly every command goes through AP_Mission::start_command(const Mission_Command& cmd) in libraries/AP_Mission/AP_Mission.cpp, so adding additional case to switch in that method in which you would check for 0 altitude and replace it with current altitude should do the job.

    Something like this may work:

    case MAV_CMD_NAV_WAYPOINT:
        if (cmd.content.location.alt == 0) {
            cmd.content.location.set_alt_cm(plane.current_loc.alt,
                           plane.current_loc.get_alt_frame());
        }
        return _cmd_start_fn(cmd);

    Maybe there is simpler solution to this problem, if so somebody please correct me.

    MarkMaxx2020
    @MarkMaxx2020
    new to this group and limited us with mission planner... Can anyone help me figure out how to get a background map included in the map drop down selection of my own ESRI map developed for use in designating agricultural research trials within 2 miles of home base. Probably have about 200 "blocks" or research trials we will be flying repeatedly this spring and summer... Any help is much appreciated.... Thank you!
    Jonas Köritz
    @jonas-koeritz
    @MarkMaxx2020 if your map is available as a WMS service mission planner can be configured to use it.
    Gizm0San
    @Gizm0San
    @PolakPL2002 Thanks for the detailed answer, could we use the ALT_OFFSET offset parameter as an alternative to achieve this goal ? would there be any drawbacks ? im thinking about setting a single altitude to all mission items and working with this parameter as a "global" altitude command.
    PolakPL2002
    @PolakPL2002
    @Gizm0San Documentation states that It can be used to add a global altitude offset to a mission (Source), so it should be fine.
    MarkMaxx2020
    @MarkMaxx2020
    It's probably painfully obvious to individuals schooled in Mission Planner how to incorporate either of these options into the 2020 missions I have planned but I really don't have any idea "how" to take the map with all the corners marked into my background map instead of say a google map or whatever is available as a default background map... I need to somehow get my own map into Mission Planner so missions can be flown that are easily identified using my ESRI map source.... Any ideas in lay-man are greatly appreciated. BTW - Thank you for the quick responses as the are getting me closer to making this whole thing work more efficiently.
    MarkMaxx2020
    @MarkMaxx2020
    My last statement probably caused additional confusion however what is needed is some way to have an ESRI ARCMAP background loaded into background so I can readily find and fly my trials (.015 to .50 acre blocks) which I have marked and developed a map for in ARCMAP. If I could have that in as my CURRENT map it would make finding and flying these trials much easier and with greater efficiency. Many of these trials are under a pivot system so often the trials a situated a all kinds of various configuration within the tire lines of the irrigation system. Any help is greatly appreciated!
    Fteiti Foued
    @FTEITI-Foued
    Hello everyone, I'm working on ardurover with mecanum wheels and I have a problem controlling the wheels. is there a person working on ardurover with mecanum wheels?
    Gizm0San
    @Gizm0San
    Hi.. how can i fly lower than home position in Auto mode with Quadplane.. (on SITL, the UAV just hits ground when it reaches home altitude)
    Ryan Johnston
    @ryanjAA
    Anyone have any guidance on which is the most accurate and/or longest range flow sensor? I’ll be putting a 100m lidar paired with it so no need to rely on any built in lidar (unless there is something I haven’t seen thst is great and all in one). Thanks!
    Ryan Johnston
    @ryanjAA
    .
    TarasMelnik
    @TarasMelnik
    hello. Anyone have any guidance how to properly flash fw AP_Periph on the processor f303. I tried st-flash write build/f303-Universal/bin/AP_Bootloader.bin 0x8000000 and
    st-flash write build/f303-Universal/bin/AP_Periph.bin 0x801000 , but the processor does not come out of the bootloader. There were no problems with f103.
    Black6spdZ
    @Black6spdZ
    anyone online tonight?
    Randy Mackay
    @rmackay9
    Hi there, more and more discussion is moving to discord so you are all invited to join us over there! https://ardupilot.org/discord
    SebastienBocquet
    @SebastienBocquet
    Hi, I am working on a convertible aircraft based on an easyglider and a tricopter configuration for hovering (two front tilting rotors and a fixed rear one). It is based on the Matrixpilot software and UDB5 board. Since this project is mostly for fixed wing aircraft, I implemented the hovering and transition functionality from scratch. There is no altitude control nor X-Y gps positioning. It works like a remote controlled aircraft. I am happy with flight qualities and hovering stability, and would like to go toward more automatic flight. So I am considering switching to Ardupilot. Which board would you advise (for non professional use) and what would be the implementation effort based on Ardupilot software? For the board choice, it is better if the weight could remain below 150g including the sensors.
    Buzz
    @davidbuzz
    ArduPilot, calls what u are flying a Thrust Vectored Belly Sitter, aka TVBS, which is a type of QuadPlane (ardupilot speak for anything that takes off like a Copter and can fly like a plane)
    https://ardupilot.org/plane/docs/guide-tailsitter.html read this page and see if any of the motor layouts works for your vehicle, if yes, then u will have zero programming work to use ArduPilot
    SebastienBocquet
    @SebastienBocquet
    Thank you, this tricopter configuration is indeed supported. It is mentioned that the quadplane functionality is implemented in the APM Plane v3.5 (firmware section in quadplane doc). I am a bit confused with the relationship between ArduPilot source code, the firmwares and in the end how to know which hardware is compatible. Could you please give some ressources on this?
    SebastienBocquet
    @SebastienBocquet
    Hi, I am hesitating between a px4 and a px4 mini board for my convertible tilt rotor tricopter. I am not sure that the number of PWM outputs can be extended to 12 on the mini. Has anyone a feedback on the use of px4 or px4 mini on a convertible?