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ArduPilot/Hardware

Discussions of all hardware related development for ArduPilot

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David Sastre

@Davidsastresas

I think in Pixhawk1 those pins are exposed on the PCB. You should be able to upload the firmware directly by them, in the ardupilot firmware download page, I think you need to flash the firmware with bl version if I am not wrong.

syedhammadhussain

@syedhammadhussain

Hello, I'm trying to port Ardupilot code to STM32F779.In list of supported hardware board i could not find this exact board. The nearest board i could find was STM32F777x.
Can anyone mention the list of steps that i need to follow to port my code to STM32F779?
Also please mention how to verify whether or not my code has been ported successfully to the said board. Thanks in advance..

Andrew Tridgell

@tridge

@syedhammadhussain I would guess that 777 and 779 are very similar. Quite likely you can treat it as a 777 for initial port

Mekki

@Belgacem-1

Hello, I'm trying to use two digital airspeed sensor (ms4525) with i2c splitter and I plug it into Pixhawk4's port i2c. In mission planner I read correctly after the values of airspeed.

My question is how Pixhawk4 could read it despite they have the same address (0x28H) and connected to the same i2c port(bus)

Mekki

@Belgacem-1

Thanks in advance.

patrickpoirier51

@patrickpoirier51

Velodyne Lidar Introduces Velabit™
$100 3D Lidar Sensor https://www.businesswire.com/news/home/20200107005849/en/Velodyne-Lidar-Introduces-Velabit

Andrew Tridgell

@tridge

@patrickpoirier51 nice! what interface? uart?

Buzz

@davidbuzz

@syedhammadhussain - the core file you need to get right to do a 'port' is called hwdef.dat, and there is basically one of those for every port/board... as tridge suggested find something that is as clase as you can to your cpu type, and them adjust it . https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef

... and my guess is that this file based on the 777 is the most relevant point to start from..
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat

Charles Villard

@Silvanosky

I am looking for cheap/budget logic analyser Wich one would you recommend ?

Peter Barker

@peterbarker

@Silvanosky saleae if you can afford it (check to see if you qualify for their discounts). saleae knockoff if you can't.

Charles Villard

@Silvanosky

@peterbarker thanks that was the brand I saw many people had in ardupilot devs and I did not know that they do discount for students. Has the Logic 8 enough sample rate ? I never used this kind of device but I think it would be very usefull to debug all my protocol programming

Buzz

@davidbuzz

there are very cheap chines clones of saleae around, generlly work fine too.

sujiv0

@sujiv0

Which is the correct place to ask doubt about Here2 GNSS Module?

sujiv0

@sujiv0

I connected I2C bus of Here2 Module to Raspberry Pi and checked for I2C devices. Surprisingly it detected "0x0c" (AK8975 series) instead of "0x68/9" (ICM20948 series). Is this the expected compass?

sujiv0

@sujiv0

https://discuss.cubepilot.org/t/here2-gnss-module-compass-i2c-address/2764

Charles Villard

@Silvanosky

If I am not wrong the ICM20948 has an AK09916 as compass

http://www.invensense.com/wp-content/uploads/2016/06/DS-000189-ICM-20948-v1.3.pdf

sujiv0

@sujiv0

@Silvanosky Yeah, you are correct. But how to get the other sensors (gyro & accel) if the active I2C address of ICM20948 is 0x0c (which is nothing but the I2C address of AK09916)?

auturgy

@auturgy

Here2 mimics the i2c compass, it doesn’t actually present the sensor directly. There’s an stm32 in between, so you’ll have to write a firmware for that to access the full icm20948, or ask Hex to give you a firmware that does that.

Charles Villard

@Silvanosky

The icm20948 use I2C passthrough to access the compass, you communicate on some registers on 0x68 and it will forward to the compass. You can configure the ICM20948 to get all the data for you and so read all data in one buffer (Gyro + Accel+Mag) so you avoid multiple request

sujiv0

@sujiv0

@Silvanosky while connecting to Raspberry Pi, I'm not able to detect device with 0x68/69 over the bus. Only 0x0c is present in i2c bus. I have no idea to change the active I2C address

@auturgy how to access the STM32? Any idea. @proficnc Is there any firmware available so that the required data (9DOF) are available over I2C

Andrew Taylor

@andrew_t97_gitlab

Hi guys, have any of you got any experience with using RPLidar A2 with the Navio2 for obstacle avoidance? I'm having trouble with the serial ports

Ghost

@ghost~5e690156d73408ce4fdc6621

hey all, question: Ardupilot on Arduino Nano BLE 33 Sense? is it possible?

Jin Chengde

@jinchengde

does anyone know the power port connecter name?

not GH

Coby

@cglusky

It’s not JST-GH?

patrickpoirier51

@patrickpoirier51

@tridge Here are the new specs for the OpenMV H7 capabilities : Cam RPC Interface Library Released
MAY 12, 2020 POSTED BY: KWABENA AGYEMAN

New OpenMV Cam Interface Library
As there's been nothing to do but stay at home and work we've been getting a lot of coding done lately. In particular, there's now an Interface Library for the OpenMV Cam!

The new OpenMV Cam Interface Library lets you control your OpenMV Cam over:

Async Serial (UART) - at up 7.5 Mb/s on the OpenMV Cam H7.
I2C Bus - at up to 1 Mb/s on the OpenMV Cam H7.
SPI Bus - at up to 20 Mb/s (40/80 Mb/s possible too) on the OpenMV Cam H7.*
CAN Bus - at up to 1 Mb/s on the OpenMV Cam H7.
USB Virtual COM Port (VCP) - at up to 12 Mb/s on the OpenMV Cam M4/M7/H7.
WiFi using the WiFi Shield - at over 12 Mb/s on the OpenMV Cam M4/M7/H7.
In particular, I sat down and debugged CAN, I2C using DMA in both master and slave mode, SPI using DMA in both master and slave mode, USB VCP, and WiFi.

patrickpoirier51

@patrickpoirier51

New version of the POC , working on the blog

vikrant singh

@vikrantsingh47

hi everyone, i am trying to port to stm32h743zi. can anyone tell me the popular sensors used by the community (imu, gps etc). i see quite a few sensors listed in supported hardware, but i am confused as to which one to choose, preferably popular and affordable. thanks.

patrickpoirier51

@patrickpoirier51

For those who have deep pockets

https://www.cnx-software.com/2020/06/26/miniature-inertial-navigation-system-integrates-9-axis-imu-sensor-and-rtk-gnss-with-1cm-accuracy/

vikrant singh

@vikrantsingh47

that's interesting. what protocol it uses though

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

sujiv0

@sujiv0

Safety arm switch press is not detecting by Pixhawk2.1 cube black (https://discuss.ardupilot.org/t/safety-arm-switch-press-is-not-detecting/60337). Any troubleshooting methods are available. Checked voltage from GPS Here2 and continuity from GPS connector to STM32 pin in cube.

sujiv0

@sujiv0

Safety arm switch press is not detecting by Pixhawk2.1 cube black (https://discuss.ardupilot.org/t/safety-arm-switch-press-is-not-detecting/60337). Any troubleshooting methods are available. Checked voltage from GPS Here2 and continuity from GPS connector to STM32 pin in cube.

@proficnc

Viperr16

@Viperr16

Hi everyone, while pitot tube is calibrating on loiter mode (if the arspd_use parameter is enabled) other required parameters like throttle level or speed etc, are controlled by the values provided by the pitot tube?

adezie

@adezie

hi there, i'm planning on build my own, FC with H743, does ardupilot has some advance feature with H743 ? since it comes with a lot of Overkill features for standard ardupilot firmware

notreallyaclue

@notreallyaclue

Hi All, first post here so let me know if I'm doing this wrong, I'm creating a Flight controller but having trouble getting the STM32H7 to talk to the pc, just nothing on usb at all. Can anyone shed any pointers? my schematics are here: https://pdfhost.io/v/vI.lAjN31_Schematic_PI_FC_v3_20201004_154416pdf.pdf And im basing most of it off of schematics for the waveshare dev board and the CUAVX7

adezie

@adezie

@notreallyaclue maybe i could help, how about dfu mode ? does anything pop out ?

notreallyaclue

@notreallyaclue

@adezie nothing for dfu either, although theres no life there or that its not trying to connect over that usb

adezie

@adezie

if that so, there's must be a failure in hardware, have you connected the power rail correctly ? what about Vcap ? don't connect it with 3.3V rails, it was 1.8V, what abou your chip foot ? does it has any short failure ?

kunnis

@kunnis

I'm playing with ardupilot to connect it to a different board. I have a IMC20948 on the I2C bus, but I'm having problems setting up board/linux.h, and I can't get it to compile. I've setup the IMU, and can get data from it, but I'm having problems setting up the Compass. The signatures in AP_Compass/AP_Compass_AK8963.cpp for probe_mpu9250 are different then AP_Compass/AP_Compass_AK09916.cpp for probe_ICM20948. I can't seem to get the correct arguments correct.

kunnis

@kunnis

Ah, I got the arguments right. I'm now able to run ahrs test, though it's reporting motion when it's sitting on my desk

with accel/gyro/mag, should it stabilize?

Andrew Tridgell

@tridge

just a reminder that the primary interactive discussion channels for ArduPilot is now on discord https://ardupilot.org/discord