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Everything posted by Spitfire76

  1. Spitfire76

    Drone Delivery

    Welcome to this forum. Note that there is a quote button that allows you to either quote a whole post or selected section of the text as its not so obvious that you are replying to the last post. Also note the date of the previous posts. This thread is from 2016 so the industry has changed quote a bit in that time.
  2. That looks correct Yes, the issue with the standard barometer is that it measures atmospheric pressure to calculate altitude so it has no idea if its above an object. As the Ardupilot wiki explains you can use use the GPS data if it contains ground elevation information in order to follow the terrain but it still does not help with objects. A rangefinder is a distance sensor so its measuring the distance to the ground or what ever object is underneath it.
  3. @erfan - the parameter.cpp file is not what you need to look as those //@ are comments. The real code is in mode_rtl.cpp and look for RTL_ALT_MIN not RTL_ALT. RTL_ALT_MIN is used in the mode_rtl.cpp to maintain a minimum height in RTL. It is not exposed in the parameter list like RTL_ALT and is defined in config.h as 200 (cm). So even if RTL_ALT is set to 0 and the current height is below RTL_ALT_MIN the UAV will still climb to that height.
  4. Good questions. I imagine that you leave both those as default but let me check further. The last time that I configured a rangefinder on my hex I never changed those parameters and it worked fine.
  5. As the FAA states on their website Part 107 certification allows pilots with a drone that is less than 55 pounds to fly for work or business by following the Part 107 guidelines. It does not replace any local or state rules for establishing and running a business. If you listen to podcasts you might find this one helpful. https://thedronetrainer.com/drone-podcast/
  6. You don't have to by configuring a range finder and setting RNGFND_MAX_CM : 300 ArduCopter will know to use the barometer above 3 m and the rangerfinder below 3m. If a rangefinder were not configured ArduCopter would know to use the barometer all the time. There is a way to check that the sensor is being used in these instructions which it looks like by how you set the parameter that you are already using. https://www.terabee.com/connection-to-pixhawk-autopilots-teraranger-evo/ Yes, below 3m those flight modes (plus LOITER and SPORTS) will use the Evo to maintain altitude rather than the barometer.
  7. Wow, that is a short range. I believe the Evo 60m is usually the one used for drones but since you are flying so low maybe the 3m one is better. You may have to change these parameters RNGFND_MAX_CM RNGFND_MIN_CM The first one tells ArduCopter the distance that the range finder is reliable i.e above this height the builtin barometer should be used. The second is the distance from the ground to the sensor. This is used to know when the UAV has landed.
  8. Remote ID Regulations For Unmanned Aircraft Systems (UAS) Are Delayed Until September 2019 https://www.jdsupra.com/legalnews/remote-id-regulations-for-unmanned-79428/
  9. Which one did you get, the RangerOne or the Evo 60m ?. I am not sure it will help so much your landings in stabilize mode as I previously explained in a post it does take practice. It should help with keeping a constant height in modes that previously used the onboard barometer, like ATL_HOLD, LOITER and POS_HOLD.
  10. Spitfire76


    Looks like SRTM means Shuttle Radar Topography Mission so its must be related to the maps that MP is trying to download. It makes sense since you only get this error when you try to use a different location. Try changing the map that mission planner is using. To change the map used right click in the map of the flight data screen and select Planner, change the map, then close the Planner view. The new map will now be used in the Flight Data view.
  11. @erfan - were you able to test that last firmware that I compiled ?. Since you said that the board was returning the id of px4v3 in MP I compiled it with the board option fmuv3 which I believe is the correct one. Also maybe you could share some more information about the project that you are working on.
  12. Spitfire76


    I am specifying a specific location and its working fine. I added my location to the ardupilot/Tools/autotest/locations.txt file. Note that format is longitude, latitude, altitude, heading. I then run from the ardupilot/ArduCopter directory using the following command sim_vehicle.py --console -m --out= --location=MYLOC where MYLOC is the label in the locations.txt file that I added and the IP address is the laptop running Mission Planner.
  13. Spitfire76


    Loading and changing parameters works on my setup so not sure whats happening with yours. Do other commands work like changing the flight mode ?
  14. Spitfire76


    http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html#sitl-simulator-software-in-the-loop Although it can be run natively on Windows I prefer to create a virtual machine running linux using Oracle's Virtualbox. https://www.virtualbox.org
  15. Where would you like me to send the file ?. Its 856Kb in size ?. You can send me a direct message if you like with the details. Once you have the file you should be able to use Mission Planner and install it as custom firmware. As you can see from the Ardupilot documentation there are several software simulators http://ardupilot.org/dev/docs/simulation-2.html but the simplest is to use Software In The Loop (SITL) http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html Without going into details at the moment I have it running on linux (Ubuntu 16.04) desktop and use another laptop running Mission Planner to connect to it. Most of the same things as using the hardware flight controller. For example you can arm, take off, change mode, execute missions etc. In that case it sounds like the MS5611 is more of an accurate barometer than was used in some of the earlier versions of the Pixhawk.
  16. @erfan - I've made a change to the config.h file so now the RTL_ALT_MIN is set to 100 cm instead of 200cm. I've tested in in the simulator and it seems to work. So if you are at 50cm when you trigger RLT it will climb to 100cm instead of 200cm. If you want to try it at your own risk I can upload the firmware (apj file) to your dropbox or similar service. Again though you fly it at your own risk.
  17. One big recent change for hobbyists is this https://uavcoach.com/recreational-airspace-authorization/
  18. The file is part of the source code which is available on GitHub. You will need to setup a development environment http://ardupilot.org/dev/ Its a bit involved if you are not familiar with compiling software. This does not avoid changing and compiling the code for the RTL return altitude to be below 2m. What it typically provides is a more accurate way for the flight controller to measure its altitude which is of course more important when the UAV is close to the ground. However it looks like the Pixhawk4 is equipped with a MS5611 barometer that's reported to have a resolution of 10cm. I am not sure though if that means if the UAV is at 50cm it could actually be between 45-55 cm or 40-50 cm. The Terrabee Eco 60M has a reported accuracy of +-4cm at 14m and below so not much more. When you fly the UAV at 50cm is it stable or does it bop up and down ?.
  19. Here is what I found. The behavior is not caused by mission planner but its hardcoded in the ArduCopter firmware's config.h file. # define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m) It looks like to change it you would need to recompile the software. 2m is quite low for outside, especially considering the accuracy of the barometer. Why do you need to fly so low ?.
  20. It was the topic on Ian Smith's latest Commercial Drones FM podcast. https://commercialdrones.fm/podcast/flyability-patrick-thevoz/
  21. I just checked this by testing with SITL (Software in the Loop) and even though I set the RTL_ATL to 0 when RTL is triggered it does climb to 2m instead of maintaining its current altitude of 0.5m. 2m is of course 200cm which is what the documentation is stating as the lowest value that RTL_ATL can be set to although in mission planner it does allow you to set it to 0 and states that with 0 it should maintain its current altitude which is not the case when the current altitude is below 200cm. I'll check into it a bit further as maybe there is a good reason for the minimum 200cm altitude.
  22. The way that RTL works is that once triggered the craft will climb to RTL_ALT (or maintain its current altitude if RTL_ALT is lower). The idea here is to avoid any obstacles like trees or buildings as the return path is a direct flight path to the launch location which could be difference from the outbound flight path. My understanding of RTL_ATL_FINAL is to tell it what altitude you want it to be once its reached the home location and setting it to 0 will cause it to land but maybe you don't want it to land but hover at a certain height. If you simply wanted the craft to automatically land once the failsafe was triggered just configure LAND mode instead of RTL in the failsafe screen.
  23. Hi @Chase Flynn | UAV Coach This is the first time that I've studied the rules this early on in the competition and now I am tempted to come up with a design to meet the 2020 challenge. It looks like its going to require 2 aircraft, potentially a fixed wing as the transient craft between the base and the remote accident site that carries a multi-rotor type craft that is deployed to enter the shed to provide the communication between Joe and the medical rescue team that's on route,
  24. You maybe aware of this but in stabilize mode the throttle simply determines the speed and therefore thrust of the motors. Were you expecting a more controlled decent ?. If so you might want to try descending in Alt hold or one of the other modes that uses Alt Hold to control altitude. http://ardupilot.org/copter/docs/altholdmode.html#altholdmode-controls As you will see in the above in Alt Hold mode the throttle stick is now controlling the rate of climb or decent rather than simply the thrust of the motors. Also note that a range finder like we have discussed in another thread is good to have if you are using this mode as its more accurate than the built in barometer of the flight controller that uses air pressure to sense altitude.