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chunk-0100 | Replay Logging | ## Replay Logging
ArduPilot has the ability to log in a fashion that solutions to EKF/AHRS issues can be more easily verified by actually re-playing a log against code changes to see if the solution results in the desired, corrected behavior. This requires that the logs showing the issue to be worked on be made with l... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Replay Logging | 1 | false | 268 | technical_reference |
chunk-0101 | On-Board DataFlash Logging | ## On-Board DataFlash Logging
Some boards do not have SD card interfaces for logging, but rather a limited amount of dataflash, typically 16MB. This saves log files in a manner like a circular buffer. Once the flash is filled, the oldest log file is overwritten with the current logging data. If there is only one file ... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | On-Board DataFlash Logging | 1 | false | 340 | technical_reference |
chunk-0102 | Downloading logs via MAVLink | ## Downloading logs via MAVLink
Connect your vehicle to the ground station using the micro USB cable
Open the Mission Planner’s Flight Data screen
On the bottom left, select the “DataFlash Logs” tab and push the
“Download DataFlash Log Via Mavlink” button
Then, select the log you want to download. This will save th... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Downloading logs via MAVLink | 1 | false | 500 | technical_reference |
chunk-0103 | Downloading logs via MAVLink | ## Downloading logs via MAVLink
Graph any flight data by first clicking on the appropriate row, you
should see the column headers update appropriately. Next find the column
you wish to graph, click on it and then push the “Graph this data”
button. In the example above the ATT’s Roll-In and Roll data have been
graphed.... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Downloading logs via MAVLink | 1 | false | 212 | technical_reference |
chunk-0104 | Setting what data you want recorded | ## Setting what data you want recorded
The
LOG_BITMASK
parameter controls what messages are recorded in the logs. The bits differ between vehicles. The image above is for Copter. ### Bitmask Table (Plane)
Bit
BitMask Name
What is logged if bit is set
0
Fast Attitude
Attitude @ 25Hz
1
Medium Attitude
Attitude ... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Setting what data you want recorded | 1 | false | 216 | technical_reference |
chunk-0105 | Message Details (Copter specific) | ## Message Details (Copter specific)
Note
Many messages are detailed in the
Onboard Message Log Messages
page in each vehicle’s wiki section. ATT (attitude information):
DesRoll
The pilot’s desired roll angle in degrees (roll left is negative, right is positive)
Roll
The vehicle’s actual roll in degrees (roll lef... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 540 | technical_reference |
chunk-0106 | Message Details (Copter specific) | ## Message Details (Copter specific)
ATT (attitude information):
DesRoll
The pilot’s desired roll angle in degrees (roll left is negative, right is positive)
Roll
The vehicle’s actual roll in degrees (roll left is negative, right is positive)
DesPitch
The pilot’s desired pitch angle in degrees (pitch forward is ... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 532 | technical_reference |
chunk-0107 | Message Details (Copter specific) | ## Message Details (Copter specific)
performing a twitch to test
response), 2 = Updating gains
(twitch completed and gains
adjusted)
RateMin
Minimum recorded rate during this
test
RateMax
Maximum recorded rate during this
test
RPGain
Rate P gain value being tested
RDGain
Rate D gain value being tested
SPGain
... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 405 | technical_reference |
chunk-0108 | Message Details (Copter specific) | ## Message Details (Copter specific)
These are magnetometer readings with
calibration applied, not raw magnetometer readings. OfsX, OfsY, OfsZ
Raw magnetic offsets (will only change if COMPASS_LEARN parameter is 1)
MOfsX, MOfsY, MOfsZ
Compassmot compensation for throttle or current
CURRENT (battery voltage, curren... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 504 | technical_reference |
chunk-0109 | Message Details (Copter specific) | ## Message Details (Copter specific)
There are only two possible values:
7 = bit mask of internal state (The meaning of individual bits can be found in the def’n of the
ap structure
9 = simple mode’s initial heading in centi-degrees
EKF (Extended Kalman Filter
):
Log information here
(Dev Wiki). Overview
here
. ER... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 333 | technical_reference |
chunk-0110 | Message Details (Copter specific) | ## Message Details (Copter specific)
ERR (an error message):
SubSystem and Error codes listed below
Subsys
ECode and Description
2 = Radio
0 = Errors Resolved
2 = Late Frame : no updates received from receiver for two seconds
3 = Compass
0 = Errors Resolved
1 = Failed to initialise (probably a hardware issue)
4 ... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 672 | technical_reference |
chunk-0111 | Message Details (Copter specific) | ## Message Details (Copter specific)
Normally vehicle is disarmed soon after
2 = Loss of control detected. Normally parachute is released soon after
13 = Flip mode
2 = Flip abandoned (not armed, pilot input or timeout)
15 = Parachute
2 = Not Deployed, vehicle too low
3 = Not Deployed, vehicle landed
16 = EKF Check... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 618 | technical_reference |
chunk-0112 | Message Details (Copter specific) | ## Message Details (Copter specific)
Normally parachute is released soon after
13 = Flip mode
2 = Flip abandoned (not armed, pilot input or timeout)
15 = Parachute
2 = Not Deployed, vehicle too low
3 = Not Deployed, vehicle landed
16 = EKF Check
0 = Variance cleared (position estimate OK)
2 = Bad Variance (positio... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 817 | technical_reference |
chunk-0113 | Message Details (Copter specific) | ## Message Details (Copter specific)
The full list of possible events can be found
in
AP_Logger.h
but the most common are:
Event No
DESCRIPTION
10
Armed
11
Disarmed
15
Auto Armed (pilot has raised throttle above zero and autopilot is free to take control of throttle)
18
Land Complete
25
Set Home (home loca... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 506 | technical_reference |
chunk-0114 | Message Details (Copter specific) | ## Message Details (Copter specific)
The meaning of code values can be found in
ModeReason
NTUN (navigation information):
FIELD
DESCRIPTION
WPDst
Distance to the next waypoint (or loiter target) in cm. Only updated while in Loiter, RTL, Auto. WPBrg
Bearing to the next waypoint in degrees
PErX
Distance to inter... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Message Details (Copter specific) | 1 | false | 389 | technical_reference |
chunk-0115 | Viewing KMZ FILES | ## Viewing KMZ FILES
When you download the dataflash log files from the autopilot it will
automatically create a KMZ file (file with extension .kmz). This file
can be opened with Google Earth (just double click the file) to view
your flight in Google Earth. Please see the instructions on the
Telemetry Logs Page
for ad... | common-downloading-and-analyzing-data-logs-in-mission-planner.html | Viewing KMZ FILES | 1 | false | 80 | technical_reference |
chunk-0116 | GeoFencing | # GeoFencing
ArduPilot supports a home based Cylindrical (“TinCan”) and Polygonal and/or Cylindrical, Inclusion and/or Exclusion regions. Inclusion and Exclusion Fences are defined easily in Mission Planner under the PLAN screen and loaded to the autopilot, using the FENCES item in the drop down box, just like Mission... | common-geofencing-landing-page.html | GeoFencing | 1 | false | 122 | technical_reference |
chunk-0117 | General Setup | ## General Setup
Set
FENCE_ENABLE
= 1 to enable fences. This enables any fences that are setup, except the ALT_MIN fence, which must be enabled by using any fence enable means (GCS message, AUTOENABLE in plane, RC switch)
Set
FENCE_ACTION
= to whatever you wish for a breach action. These will vary depending on vehicl... | common-geofencing-landing-page.html | General Setup | 1 | false | 509 | technical_reference |
chunk-0118 | Types of Fences | ## Types of Fences
TYPE OF FENCE
FENCE_TYPE
bit
PLANE
COPTER
ROVER
Global Maximum Altitude
FENCE_ALT_MAX defines max altitude
0
X
X
Cylindrical (“TinCan”)
Circle Centered on Home
Parameters for radius, height
1
X
X
X
Inclusion/Exclusion Zones
Arbitrary Locations
Polygonal or Circular
Inclusion or Excl... | common-geofencing-landing-page.html | Types of Fences | 1 | false | 484 | technical_reference |
chunk-0119 | Enabling the Fence with an RC Channel Auxiliary Switch | ## Enabling the Fence with an RC Channel Auxiliary Switch
It is not necessary to set-up a switch to enable or disable the fence
but if you wish to control the fence with a switch follow these
steps:
An
RCx_OPTION
can be set via the Config/Tuning > Full Parameter List screen, for example using RC channel 7:
Set
RC7_O... | common-geofencing-landing-page.html | Enabling the Fence with an RC Channel Auxiliary Switch | 1 | false | 242 | technical_reference |
chunk-0120 | Enabling Fences in Mission Planner | ## Enabling Fences in Mission Planner
To enable Fences, go to the Mission Planner full parameter list (CONFIG->Full Parameter Tree), search for items with
FENCE_
:
### Use for R/C Training
One of the main uses of geo-fencing is to teach yourself (or someone
else) to fly radio controlled vehicles. When you have a pro... | common-geofencing-landing-page.html | Enabling Fences in Mission Planner | 1 | false | 208 | technical_reference |
chunk-0121 | Stick-mixing on fence breach | ## Stick-mixing on fence breach
ArduPilot enables ‘stick mixing’ by default when in auto modes. This means
that you can change the path of a loiter, for example, by using your
transmitter sticks. When you are using geo-fencing, stick mixing will be disabled on fence
breach until your plane is back inside the fenced re... | common-geofencing-landing-page.html | Stick-mixing on fence breach | 1 | false | 181 | technical_reference |
chunk-0122 | MAVLink support | ## MAVLink support
ArduPilot will report the fence status via the MAVLink GCS protocol. The
key status packet is called FENCE_STATUS, and is defined in
“ardupilotmega.xml”. A typical FENCE_STATUS packet looks like this:
2011
-
12
-
20
16
:
36
:
35.60
:
FENCE_STATUS
breach_status
:
1
,
breach_count
:
15
,
breach_type
... | common-geofencing-landing-page.html | MAVLink support | 1 | false | 314 | technical_reference |
chunk-0123 | GPS Blending (aka Dual GPS) | # GPS Blending (aka Dual GPS)
GPS Blending combines the readings from two gpses. Using two GPSes reduces the chance of glitches affecting the vehicle. Only GPSs that report position and speed accuracy can be used for blending. All UBlox GPSs provide this extra information while GPSs using the NMEA protocol generally d... | common-gps-blending.html | GPS Blending (aka Dual GPS) | 1 | false | 112 | technical_reference |
chunk-0124 | Setup through the Ground Station | ## Setup through the Ground Station
SERIAL4_PROTOCOL
= 5 / “GPS”. Alternatively telemetry port 1 or 2 can be used by setting
SERIAL1_PROTOCOL
or
SERIAL2_PROTOCOL
to 5. GPS2_TYPE
= 1 / “AUTO” or the specific number corresponding to the type of GPS
GPS_AUTO_SWITCH
= 2 / “Blend”. Alternatively set to 1 / “UseBest” to on... | common-gps-blending.html | Setup through the Ground Station | 1 | false | 232 | technical_reference |
chunk-0125 | Video | ## Video
Video of a heavily loaded IRIS using Blended GPS, optical flow and a lidar range finder
| common-gps-blending.html | Video | 1 | false | 24 | technical_reference |
chunk-0126 | GPS - How it Works | # GPS - How it Works
GPS system is a Global Navigation Satellite System (GNSS). Most civil GPS receivers are using pseudorange data (C/A code) available
on GPS L1 channel (1575.42 MHz) and optionally they can receive SBAS
DGPS corrections giving meter precision. Advanced and expensive civil GPS receivers can use the p... | common-gps-how-it-works.html | GPS - How it Works | 1 | false | 112 | technical_reference |
chunk-0127 | GPS - How it Works | Most civil GPS receivers are using pseudorange data (C/A code) available
on GPS L1 channel (1575.42 MHz) and optionally they can receive SBAS
DGPS corrections giving meter precision. Advanced and expensive civil GPS receivers can use the previous method
plus carrier phase smoothing, carrier phase corrections (RTK) as w... | common-gps-how-it-works.html | GPS - How it Works | 1 | false | 188 | technical_reference |
chunk-0128 | GPS multipathing | ## GPS multipathing
Multipathing is causing GPS position errors that are difficult to detect
and compensate for. Multiple GNSS receivers are better suited to filter
out multipathing thanks to a higher number of visible satellites at the
same time. ### GPS disturbed signal propagation
Ionospheric perturbations and mag... | common-gps-how-it-works.html | GPS multipathing | 1 | false | 278 | technical_reference |
chunk-0129 | DGPS corrections | ## DGPS corrections
DGPS corrections are using pseudorange data only. SBAS is a form of DGPS
correction freely available from one or more geostationary satellites. Each region of the world has a localized SBAS system : WAAS for America,
EGNOS for Europe, MSAS for Japan. DGPS corrections give meter precision (free serv... | common-gps-how-it-works.html | DGPS corrections | 1 | false | 158 | technical_reference |
chunk-0130 | Measuring Vibration with IMU Batch Sampler | # Measuring Vibration with IMU Batch Sampler
The IMU BatchSampler can be used to record high-frequency data from the IMU sensors to the dataflash log on the autopilot. This data can be analysed post-flight to diagnose vibration issues using graphs created from Fast Fourier Transforms (FFT) of the data. FFT transforms ... | common-imu-batchsampling.html | Measuring Vibration with IMU Batch Sampler | 1 | false | 260 | technical_reference |
chunk-0131 | Measuring Vibration with IMU Batch Sampler | FFT has the following limitations:
FFT cannot show you frequencies above half your sensor’s sampling rate
The smallest frequency that can be shown is half your sample size divided by your sample rate
Samples are typically taken at the same rate as gyro updates provided to the autopilot. For example if you are using
... | common-imu-batchsampling.html | Measuring Vibration with IMU Batch Sampler | 1 | false | 416 | technical_reference |
chunk-0132 | Pre-Flight Setup | ## Pre-Flight Setup
Set
INS_LOG_BAT_OPT
= 4 to do pre and post-filter 1KHz sampling
Set
INS_LOG_BAT_MASK
= 1 to collect data from the first IMU
INS_LOG_BAT_LGIN
is the gap between batch samples and normally does not need to be changed. It can be lowered to increase accuracy of resulting FFT, but may be ineffective d... | common-imu-batchsampling.html | Pre-Flight Setup | 1 | false | 497 | technical_reference |
chunk-0133 | Pre-Flight Setup | ## Pre-Flight Setup
It should be possible to “notch” out that 180Hz motor noise spike and increase the gyro low pass filter to 60 or 80Hz to allow a tighter tune to be done. The accelerometer path is not as critical since it forms an outer loop around the gyro based rate PID controllers. Leaving its lowpass filter at ... | common-imu-batchsampling.html | Pre-Flight Setup | 1 | false | 142 | technical_reference |
chunk-0134 | Harmonic Notch Filter Setup | ## Harmonic Notch Filter Setup
It is possible to filter some of this noise to increase performance and allow better tuning by activating the harmonic notch filter(s). See
Managing Gyro Noise with the Dynamic Harmonic Notch Filters
for details. For Throttle Based Dynamic Harmonic Notch(s) you will need some additional ... | common-imu-batchsampling.html | Harmonic Notch Filter Setup | 1 | false | 250 | technical_reference |
chunk-0135 | Post Configuration Confirmation Flight and Post-Flight Analysis | ## Post Configuration Confirmation Flight and Post-Flight Analysis
With
INS_LOG_BAT_MASK
still set to = 1 to collect data from the first IMU:
Set
INS_LOG_BAT_OPT
= 2 to capture post-filter gyro data
Perform a similar hover flight and analyze the dataflash logs in the same way. This time you should see significantly ... | common-imu-batchsampling.html | Post Configuration Confirmation Flight and Post-Flight Analysis | 1 | false | 225 | technical_reference |
chunk-0136 | Advanced Configuration and Analysis | ## Advanced Configuration and Analysis
Set
INS_LOG_BAT_OPT
= 1 to enable batch sampling at the sensor’s highest rate which allows analysis above 500hz for very fast IMUs from InvenseSense
INS_LOG_BAT_MASK
can be used to sample just a single sensor. This will increase the number of samples retrieved from a single sens... | common-imu-batchsampling.html | Advanced Configuration and Analysis | 1 | false | 446 | technical_reference |
chunk-0137 | Log Message Contents | ## Log Message Contents
There are two types of dataflash log messages involved in batch sampling,
ISBH
and
ISBD
. ISBH
is a batch header; it includes a batch number and metadata about the batch. ISBD
messages contain the actual data for the batch, and reference a header by batch number. ### Analysis with pymavlink
py... | common-imu-batchsampling.html | Log Message Contents | 1 | false | 201 | technical_reference |
chunk-0138 | Loading Firmware | # Loading Firmware
These instructions will show you how to download the latest firmware onto the autopilot hardware that already has ArduPilot firmware installed. This process will use the Mission Planner ground control station. See
Loading Firmware onto boards without existing ArduPilot firmware
. Note
for some auto... | common-loading-firmware-onto-pixhawk.html | Loading Firmware | 1 | false | 81 | technical_reference |
chunk-0139 | Installation Steps | ## Installation Steps
### Connect autopilot to computer
Once you have
installed a ground station
on your computer, connect
the autopilot using a USB cable as shown
below. Use a direct USB port on your computer (not a USB hub). Pixhawk USB Connection
¶
Windows should automatically detect and install the correct drive... | common-loading-firmware-onto-pixhawk.html | Installation Steps | 1 | false | 492 | technical_reference |
chunk-0140 | Installation Steps | ## Installation Steps
If all goes well, you will see a status appear on the bottom right including the words: “erase…”, “program…”, “verify..”, and “Upload Done”. The firmware has been successfully uploaded to the board. It usually takes a few seconds for the bootloader to exit and enter the main code after programmin... | common-loading-firmware-onto-pixhawk.html | Installation Steps | 1 | false | 208 | technical_reference |
chunk-0141 | Using Beta, Developer, and Customized Versions | ## Using Beta, Developer, and Customized Versions
### Beta
Prior to
Stable
releases,
Beta
versions are released. These may be used if you wish to try newer features or help the developers flight test new code. Since these are “beta” versions, there may still be bugs. This is possible even in Stable release firmware. ... | common-loading-firmware-onto-pixhawk.html | Using Beta, Developer, and Customized Versions | 1 | false | 281 | technical_reference |
chunk-0142 | section of the Wiki is updated with information about the addition or change. | section of the Wiki is updated with information about the addition or change. This code must be manually downloaded from the
Firmware Downloads
page as
latest
for your particular board, and then uploaded using Mission Planner’s “Load Custom Firmware” option on its
Install Firmware Page
### Custom Firmware Build Server... | common-loading-firmware-onto-pixhawk.html | section of the Wiki is updated with information about the addition or change. | 1 | false | 429 | technical_reference |
chunk-0143 | Firmware Limitations | ## Firmware Limitations
For a list of what features are
not
included in the current “latest” firmware for any given autopilot, see
this page
. All the feature options currently
not
included in the 1MB autopilots, by default, are on the list of options on the Custom Firmware Build Server. There are also many features s... | common-loading-firmware-onto-pixhawk.html | Firmware Limitations | 1 | false | 228 | technical_reference |
chunk-0144 | Loading Firmware via SD Card | ## Loading Firmware via SD Card
The firmware on some autopilots may be uploaded by copying an ‘ardupilot.abin’ firmware file to the SD card and then power cycling the board. Details on how to
update the firmware via SD Card can be found here
. ### Testing
You can test the firmware is working on a basic level by switc... | common-loading-firmware-onto-pixhawk.html | Loading Firmware via SD Card | 1 | false | 126 | technical_reference |
chunk-0146 | Log Types (Dataflash vs Tlogs) | ## Log Types (Dataflash vs Tlogs)
There are two ways to record your flight data. With some exceptions, the
two methods record very similar data but in different ways:
Dataflash logs
are recorded on the autopilot (often to the SD card) so they must be downloaded from the autopilot after a flight
Telemetry logs
(also ... | common-logs.html | Log Types (Dataflash vs Tlogs) | 1 | false | 232 | technical_reference |
chunk-0147 | Magnetic Interference | # Magnetic Interference
This article covers general information related to magnetic
interference.
| common-magnetic-interference.html | Magnetic Interference | 1 | false | 16 | technical_reference |
chunk-0148 | Overview | ## Overview
Magnet Interference on a compass can have a serious impact on navigation
on all vehicle types. This article explains what hardware changes you can make to reduce
magnetic interference on the compass, along with supporting theoretical
discussion. Information on how to set-up your compass can be found on
Adv... | common-magnetic-interference.html | Overview | 1 | false | 300 | technical_reference |
chunk-0149 | Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop | ## Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop
Geometric details (from
this web
page. )
The application of
the
Biot-Savart
law
on the centerline of a
current
loop
involves
integrating the z-component. The symmetry is such that all the
terms in this element are constant
except the distance e... | common-magnetic-interference.html | Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop | 1 | false | 497 | technical_reference |
chunk-0150 | Natural and Artificial Magnetic Anomalies Warning | ## Natural and Artificial Magnetic Anomalies Warning
Note
The following information has not been objectively tested to
determine its impact on a vehicle’s compass accuracy in flight. Many things can distort the earth’s magnetic field in the area you
are flying:
Steel framed or reinforced concrete buildings, bridges ... | common-magnetic-interference.html | Natural and Artificial Magnetic Anomalies Warning | 1 | false | 273 | technical_reference |
chunk-0151 | GPS for yaw | ## GPS for yaw
ArduPilot supports the use of GPS heading information to reduce malfunctions caused by changes in the magnetic field in certain environments. Configure GPS for yaw
| common-magnetic-interference.html | GPS for yaw | 1 | false | 38 | technical_reference |
chunk-0152 | Mission Commands | # Mission Commands
This article describes the mission commands that are supported by Copter, Plane, Sub and Rover when switched into Auto mode. Note
there are many other MAVLink commands that a GCS or other device can send to the autopilot. See the ArduPilot/navlink repository, or the documentation for your GCS.
| common-mavlink-mission-command-messages-mav_cmd.html | Mission Commands | 1 | false | 68 | technical_reference |
chunk-0153 | Overview | ## Overview
The MAVLink protocol defines a large number of
MAV_CMD
waypoint command types (sent in a
MAVLink_mission_item_message
). ArduPilot implements handling for the subset of these commands and
command parameters that are
most relevant
and meaningful for each of
the vehicles. Unsupported commands that are sent t... | common-mavlink-mission-command-messages-mav_cmd.html | Overview | 1 | false | 488 | technical_reference |
chunk-0154 | Overview | ## Overview
During a mission at most one “Navigation” command and one “Do” or
“Condition” command can be running at one time. A typical mission might
set a waypoint (NAV command), add a CONDITION command that doesn’t
complete until a certain distance from the destination
(
MAV_CMD_CONDITION_DISTANCE
), and
then add a ... | common-mavlink-mission-command-messages-mav_cmd.html | Overview | 1 | false | 473 | technical_reference |
chunk-0155 | Overview | ## Overview
If a command or
parameter is not listed (or marked as not supported) then it is
extremely likely that it is not supported on ArduPilot. The reason for this is that the information was predominantly inferred
by inspecting the command handlers for messages:
The switch statement in
AP_Mission::mavlink_to_mis... | common-mavlink-mission-command-messages-mav_cmd.html | Overview | 1 | false | 485 | technical_reference |
chunk-0156 | Commands supported by Plane | ## Commands supported by Plane
This list of commands was inferred from the command handler in
/ArduPlane/commands_logic.cpp
. MAV_CMD_NAV_WAYPOINT
MAV_CMD_NAV_RETURN_TO_LAUNCH
MAV_CMD_NAV_TAKEOFF
MAV_CMD_NAV_LAND
MAV_CMD_NAV_LOITER_UNLIM
MAV_CMD_NAV_LOITER_TURNS
MAV_CMD_NAV_LOITER_TIME
MAV_CMD_NAV_ALTITUDE_WAIT... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 490 | technical_reference |
chunk-0157 | Commands supported by Plane | The plane climbs to the specified altitude (at the specified pitch/climb
angle) before proceeding to the next waypoint. The plane is
only
attempting to climb at this point and can be pushed
off its heading by wind. The pitch value is the
minimum
climb angle
when using an airspeed sensor, and
maximum
angle when
not
usin... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 513 | technical_reference |
chunk-0158 | Commands supported by Plane | ## Commands supported by Plane
If there are subsequent commands then you can continue the
mission at the next command, if the Copter
MIS_RESTART
parameter is
set to resume, by switching back to AUTO mode (otherwise the mission
will restart). Command parameters
Command Field
Mission Planner Field
Description
param1
Em... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 525 | technical_reference |
chunk-0159 | Commands supported by Plane | ## Commands supported by Plane
If 1, track the line tangent to the circle to the next waypoint. param5
Lat
Target latitude. If zero, the vehicle will loiter at the current latitude. param6
Lon
Target longitude. If zero, the vehicle will loiter at the current longitude. param7
Alt
Target altitude. If zero, the vehicle ... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 494 | technical_reference |
chunk-0160 | Commands supported by Plane | The home location is where
the vehicle was last armed (or when it first gets GPS lock after arming
if the vehicle configuration allows this). Return to the
home location
(or the nearest
Rally Point
if closer) and then “Loiter” (circle the
point). The home location is where the vehicle was last armed (or when
it first g... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 488 | technical_reference |
chunk-0161 | Commands supported by Plane | This is the mission equivalent of the
QLAND flight mode
. If the
Q_OPTIONS
bit 4 is set (Use a fixed wind spiral approach), the it will fly in plane mode to the lat/lon coordinates provided (if non-zero), climbing or descending to the altitude set in the NAV_VTOL_LAND waypoint. When it reaches within
Q_FW_LND_APR_RAD
o... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 514 | technical_reference |
chunk-0162 | Commands supported by Plane | Altitude (m)
param2
? Descent speed (m/s)
param3
? Wiggle Time (s)
param4
Empty
param5
Empty
param6
Empty
param7
Empty
### MAV_CMD_NAV_LOITER_TO_ALT
Supported by: Plane (not Copter or Rover). Loiter while climbing/descending to an altitude. Begin loitering at the specified Latitude and Longitude. If Lat=Lon=0, then
l... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 452 | technical_reference |
chunk-0163 | Commands supported by Plane | QUADPLANE ONLY, fixed wing planes will skip this command
After reaching this waypoint, the vehicle will have transitioned to VTOL and will descend up to the maximum descent value. If the vehicle has not touched the ground before this limit is reached, the vehicle will climb back up to the waypoint altitude and continue... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 462 | technical_reference |
chunk-0164 | Commands supported by Plane | If the value is zero the next command will
execute immediately. A value of -1 will cause the command to repeat
indefinitely. param3
Empty
param4
Empty
param5
Empty
param6
Empty
param7
Empty
Mission planner screenshots
Mission Planner Settings for DO_JUMP command
¶
In the example above the vehicle would fly back-and-f... | common-mavlink-mission-command-messages-mav_cmd.html | Commands supported by Plane | 1 | false | 470 | technical_reference |
chunk-0165 | Conditional commands | ## Conditional commands
Conditional commands control the execution of _DO_ commands. For
example, a conditional command can prevent DO commands from executing based
on a time delay, until the vehicle is at a certain altitude, or at a
specified distance from the next target position. A conditional command may not be co... | common-mavlink-mission-command-messages-mav_cmd.html | Conditional commands | 1 | false | 398 | technical_reference |
chunk-0166 | DO commands | ## DO commands
The “DO” or “Now” commands are executed once to perform some action. All
the DO commands associated with a waypoint are executed immediately. ### MAV_CMD_DO_CHANGE_SPEED
Supported by: Copter, Plane, Rover. Change the target horizontal speed (airspeed or groundspeed) and/or the
vehicle’s throttle. If th... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 448 | technical_reference |
chunk-0167 | DO commands | Command parameters
Command Field
Mission Planner Field
Description
param1
Current
Set home location:
1=Set home as current location. 0=Use location specified in message parameters. param2
Empty
param3
Empty
param4
Empty
param5
Lat
Target home latitude (if
param1=0
)
param6
Lon
Target home longitude (if
param1=0
)
par... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 464 | technical_reference |
chunk-0168 | DO commands | param2
PWM
PWM value to output, in microseconds (typically 1000 to 2000). param3
Empty
param4
Empty
param5
Empty
param6
Empty
param7
Empty
Mission planner screenshots
Mission Planner Settingsfor DO_SET_SERVO command
¶
In the example above, the servo attached to output channel 8 would be
moved to PWM 1700 (servos gene... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 492 | technical_reference |
chunk-0169 | DO commands | If
RTL_AUTOLAND
is set to 2, the plane will jump to the nearest
DO_LAND_START
in the mission table when RTL is initialized. Note
General information on landing a plane is provided in the topic
Automatic Landing
. Command parameters
Command Field
Mission Planner Field
Description
param1
Empty
param2
Empty
param3
Empty... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 485 | technical_reference |
chunk-0170 | DO commands | Configure an on-board camera controller system. The parameters are forwarded to an on-board camera controller system
(like the
3DR Camera Control Board
),
if one is present. Command parameters
Command Field
Mission Planner Field
Description
param1
Mode
Set camera mode:
1: ProgramAuto
2: Aperture Priority
3: Shutter ... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 509 | technical_reference |
chunk-0171 | DO commands | Mission command to move the gimbal to the desired pitch and yaw angles (in degrees). This command allows you to specify a pitch and yaw angle which
will be sent to the
camera gimbal
. This
can be used to point the camera in specific directions at various times
in the mission. Positive pitch angles are up, Negative are ... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 500 | technical_reference |
chunk-0172 | DO commands | Command parameters
Command Field
Mission Planner Field
Description
param1
Aux Function
Auxiliary Function code,same as RCx_OPTIONS
param2
Switch Position
0:Low, 1:Mid, 2:High
param3
Empty
param4
Empty
param5
Empty
param6
Empty
param7
Empty
### MAV_CMD_DO_INVERTED_FLIGHT
Supported by: Plane (not Copter or Rover). Cha... | common-mavlink-mission-command-messages-mav_cmd.html | DO commands | 1 | false | 549 | technical_reference |
chunk-0173 | Measuring Vibration | # Measuring Vibration
Autopilots have accelerometers that are sensitive to vibrations. These accelerometer values are combined with barometer and
GPS data to estimate the vehicle’s position. With excessive
vibrations, the estimate can be thrown off and lead to very bad
performance in modes that rely on accurate positi... | common-measuring-vibration.html | Measuring Vibration | 1 | false | 113 | technical_reference |
chunk-0174 | Real-Time view in Ground Station | ## Real-Time view in Ground Station
Ground Stations can display a real-time view of vibration and clipping. If using the Mission Planner click on “Vibe” on the HUD to display the current vibration levels. Vibration levels below 30m/s/s are normally acceptable. Levels above 30m/s/s
may
have problems and levels above 60... | common-measuring-vibration.html | Real-Time view in Ground Station | 1 | false | 502 | technical_reference |
chunk-0175 | Real-Time view in Ground Station | ## Real-Time view in Ground Station
If the clipping is 0 that’s good. That means the vibrations that are being detected aren’t overwhelming the IMU. When troubleshooting the vibration, consider the axis of the vibration as a staring point to find the problem:
If X AND Y are both high, then you may have an issue with ... | common-measuring-vibration.html | Real-Time view in Ground Station | 1 | false | 230 | technical_reference |
chunk-0176 | Looking for “The Leans” | ## Looking for “The Leans”
The Leans
occurs when the vehicle’s attitude estimate becomes incorrect causing it to lean significantly even though the pilot is commanding level flight. The cause of the problem is often accelerometer aliasing which can be confirmed by comparing the Roll and Pitch attitude estimates from e... | common-measuring-vibration.html | Looking for “The Leans” | 1 | false | 152 | technical_reference |
chunk-0177 | Advanced Analysis with FFT | ## Advanced Analysis with FFT
Refer to the
Measuring Vibration with “Raw IMU Logging”
page for instructions on how to collect large amounts of IMU data and perform an FFT analysis to determine the frequencies with the most vibration. ### IMU Dataflash Log message
For very old versions of ArduPilot that do not include... | common-measuring-vibration.html | Advanced Analysis with FFT | 1 | false | 406 | technical_reference |
chunk-0178 | Power Monitor/Module Configuration in Mission Planner | # Power Monitor/Module Configuration in Mission Planner
Note
Up to 16 battery monitors may be used in ArduPilot, with parameter groups named BATT_ through BATT9_ for the first 10, and BATTA_ thru BATTF_ for the last 6 monitors. For this article all parameter name references will be shown for the first monitor, BATT_
... | common-power-module-configuration-in-mission-planner.html | Power Monitor/Module Configuration in Mission Planner | 1 | false | 128 | technical_reference |
chunk-0179 | Power Monitor/Module Configuration in Mission Planner | For this article all parameter name references will be shown for the first monitor, BATT_
A power monitor can be used to measure the battery voltage and current for use in the battery failsafe and a power module can also provide a stable power supply to the autopilot. ArduPilot is
compatible with a number of power mod... | common-power-module-configuration-in-mission-planner.html | Power Monitor/Module Configuration in Mission Planner | 1 | false | 93 | technical_reference |
chunk-0180 | Mission Planner Setup | ## Mission Planner Setup
Battery measurement is primarily set up in the
Mission Planner
’s
INITIAL SETUP | Optional Hardware | | common-power-module-configuration-in-mission-planner.html | Mission Planner Setup | 1 | false | 28 | technical_reference |
chunk-0181 | Mission Planner Setup | Battery Monitor
screen. Note that currently Mission Planner only supports the first two Battery Monitors in the system (a total of 10 are available in firmware versions 4.0 and later). More would need to be configured directly by directly setting their parameters in the
CONFIG/TUNING|Full Parameter List
screen.
Missio... | common-power-module-configuration-in-mission-planner.html | Mission Planner Setup | 1 | false | 1,078 | technical_reference |
chunk-0182 | Mission Planner Setup | ## Mission Planner Setup
| Optional Hardware | Battery Monitor
screen set the “Sensor” to “Other”. Enter the voltage according to the hand-held volt meter in the
“Measured Battery Voltage” field
Press tab or click out of the field and the “Voltage Divider
(Calced)” value will update and the “Battery voltage (Calced)”... | common-power-module-configuration-in-mission-planner.html | Mission Planner Setup | 1 | false | 262 | technical_reference |
chunk-0183 | Connecting power monitor to alternative pins | ## Connecting power monitor to alternative pins
The power monitor is generally plugged into the default port on the
autopilot (ie. Pixhawk). If you wish to change where the power
monitor is plugged into the controller, the pins used can be modified
using the
BATT_VOLT_PIN
and
BATT_CURR_PIN
parameters. The list of avai... | common-power-module-configuration-in-mission-planner.html | Connecting power monitor to alternative pins | 1 | false | 108 | technical_reference |
chunk-0184 | Powering the Pixhawk | # Powering the Pixhawk
This article explains how to power the
Pixhawk
.
| common-powering-the-pixhawk.html | Powering the Pixhawk | 1 | false | 17 | technical_reference |
chunk-0185 | Overview | ## Overview
For most users powering the Pixhawk is as simple as connecting a 6-pin
DF13 cable from one of the
supported power modules
into the Pixhawk’s “Power”
port as shown below. Pixhawk Power Port
¶
The module will provide a steady ~5V to Pixhawk and allow the Pixhawk to
measure the current and/or voltage of the ... | common-powering-the-pixhawk.html | Overview | 1 | false | 422 | technical_reference |
chunk-0186 | Powering/backup off the servo rail | ## Powering/backup off the servo rail
Pixhawk can be powered off the servo rail instead of from a power
module. This is achieved by connecting a 5V BEC (with or without a
servo) to a power (+) pin and a ground (-) pin of the “MAIN OUT” or “AUX
OUT” pins. You
must
also add a Zener diode (part number 1N5339) to
conditio... | common-powering-the-pixhawk.html | Powering/backup off the servo rail | 1 | false | 153 | technical_reference |
chunk-0187 | section below for more information on powering Pixhawk. | ## section below for more information on powering Pixhawk.
section below for more information on powering Pixhawk. Warning
The servo rail can supply servos requiring up to 10.5V (but not also power the Pixhawk). Voltages above 5V cannot be used to power the Pixhawk via the servo rail. In this case the Zener diode
mus... | common-powering-the-pixhawk.html | section below for more information on powering Pixhawk. | 1 | false | 78 | technical_reference |
chunk-0188 | Pixhawk Power/ESC Wiring Overview | ## Pixhawk Power/ESC Wiring Overview
The block diagram below synthesizes an overview of Pixhawk’s power and
ESC wiring. In this diagram, a 3DR power module (or equivalent device)
powers Pixhawk through its power port (primary source). One power source
is enough but obviously not redundant if the power module fails to ... | common-powering-the-pixhawk.html | Pixhawk Power/ESC Wiring Overview | 1 | false | 193 | technical_reference |
chunk-0189 | General wiring recommendations | ## General wiring recommendations
Always connect a ground reference wire with your ESC’s signal wires
on the Pixhawk servo rail (output ports 1-8). Indeed an ESC’s signal
wire should never be left floating without its ground reference
(THERE IS NO SETUP WHICH WOULDN’T REQUIRE SIGNAL GROUND TO BE
CONNECTED). It is dang... | common-powering-the-pixhawk.html | General wiring recommendations | 1 | false | 429 | technical_reference |
chunk-0190 | Advanced power supply configuration | ## Advanced power supply configuration
This section explains how to set up triple redundant power sources
(power module as primary, with two backup BECs). In this scheme, a simple MBR1545CT integrated circuit is used. This
circuit takes two BECs on its inputs, and outputs only off the BEC with
the highest voltage (i.e... | common-powering-the-pixhawk.html | Advanced power supply configuration | 1 | false | 290 | technical_reference |
chunk-0191 | Pre-Arm Safety Checks | # Pre-Arm Safety Checks
ArduPilot includes a suite of Pre-arm Safety Checks which will prevent the
vehicle from arming its propulsion system if any of a fairly large number of issues are
discovered before movement including missed calibration, configuration
or bad sensor data. These checks help prevent crashes or fly-... | common-prearm-safety-checks.html | Pre-Arm Safety Checks | 1 | false | 124 | technical_reference |
chunk-0192 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
The pilot will notice a pre-arm check failure because he/she will be
unable to arm the vehicle and the notification LED, if available, will be flashing yellow. To
determine exactly which check has failed:
Connect the Autopilot to the ground station using a U... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 498 | technical_reference |
chunk-0193 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Ensure compass and accelerometer calibrations have been completed. Eliminate radio-frequency sources that could interfere with the GPS
Airspeed 1 not healthy
Autopilot is unable to retrieve data from sensor
Check the physical connection and
configuration
... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 530 | technical_reference |
chunk-0194 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Check mag field (z diff:x>875)
Compass vert field strength is too large or small
Relocate vehicle away from metal in the environment. Move compass away from metal in the frame. repeat
compass calibration
. Disable internal compass. Check mag field: x, max y... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 509 | technical_reference |
chunk-0195 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
DroneCAN sees same node ids used by two devices
Clear DroneCAN DNS server by setting
CAN_D1_UC_OPTION
= 1 and reboot
DroneCAN: Failed to access storage! Possible hardware issue
Reboot autopilot
DroneCAN: Failed to add Node x! DroneCAN could not init conne... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 358 | technical_reference |
chunk-0196 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
EKF3 waiting for GPS config data
automatic GPS configuration has not completed
Check GPS connection and configuration especially if using DroneCAN GPS
EKF3 Yaw inconsistent by x degs
Yaw angle estimates are inconsistent
Wait or reboot autopilot
Failed t... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 605 | technical_reference |
chunk-0197 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Try to re-save mission to SD card
Failed to create log directory /APM/LOGS : ENOMEM
Failed to create log directory on SD card
Decrease
LOG_FILE_BUFSIZE
or disable other features to reduce memory usage
Fence requires position
If fences are enabled, positi... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 553 | technical_reference |
chunk-0198 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Reduce sources of radio-frequency interference
FENCE_ALT_MAX < FENCE_ALT_MIN
FENCE_ALT_MAX must be greater than FENCE_ALT_MIN
Increase
FENCE_ALT_MAX
or lower
FENCE_ALT_MIN
FENCE_MARGIN is less than FENCE_RADIUS
FENCE_MARGIN must be larger than FENCE_RADI... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 522 | technical_reference |
chunk-0199 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Reduce sources of radio-frequency interference
GPS blending unhealthy
At least one GPS is not providing good data
Move vehicle to a location with a clear view of the sky. Reduce sources of radio-frequency interference. Check
GPS blending configuration
GPS... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 508 | technical_reference |
chunk-0200 | Recognising which Pre-Arm Check has failed using the GCS | ## Recognising which Pre-Arm Check has failed using the GCS
Gyros not calibrated
Gyro calibration normally run at startup failed
Reboot autopilot and hold vehicle still until gyro calibration completes
Gyros not healthy
At least one gyro is not providing data
Reboot autopilot. If failure continues replace autopil... | common-prearm-safety-checks.html | Recognising which Pre-Arm Check has failed using the GCS | 1 | false | 302 | technical_reference |
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