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searchwing-firmware [2019/04/17 14:49] beckmanf [Firmware installation] Mag Sensor Setup |
searchwing-firmware [2019/05/05 11:57] (current) j0ge4622 Update the failsafe params. |
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| The firmware is [[https://docs.px4.io/en/config/firmware.html|installed]] on the PixRacer via the QGroundControl Software. You have to select the "Custom Firmware File" that you find in the folder "Firmware/build". The name of the firmware file is "px4fmu-v4_default.px4". | The firmware is [[https://docs.px4.io/en/config/firmware.html|installed]] on the PixRacer via the QGroundControl Software. You have to select the "Custom Firmware File" that you find in the folder "Firmware/build". The name of the firmware file is "px4fmu-v4_default.px4". | ||
| + | |||
| + | === Find out Firmware version === | ||
| + | |||
| + | The SearchWing Firmware version is displayed in QGC as 1.8.2dev, i.e. the internal 1.8.2-1 or 1.8.2-2 is not shown directly. This can be done via the [[https://docs.qgroundcontrol.com/en/analyze_view/mavlink_console.html|Mavlink Console]]. You can figure out the firmware version via | ||
| + | |||
| + | <code> | ||
| + | ver all | ||
| + | </code> | ||
| + | |||
| + | You can then compare the git hash. | ||
| === Mag Sensor Setup === | === Mag Sensor Setup === | ||
| Line 44: | Line 54: | ||
| After the mag setup is changed, the mag sensors have to be calibrated. If you see a "Mag Inconsistent Error" in QGC, then this setup is wrong. | After the mag setup is changed, the mag sensors have to be calibrated. If you see a "Mag Inconsistent Error" in QGC, then this setup is wrong. | ||
| + | |||
| + | ===== Parameter ===== | ||
| + | |||
| + | ==== Procedure ==== | ||
| + | |||
| + | - Export parameter from QGC (.params file) | ||
| + | - Compare with the concurrent or for a new plane with an already existing file in [[https://gitlab.com/searchwing/operational/searchwing-config/tree/master/PX4|searchwing-config]], e.g. with git diff | ||
| + | - Optional: Delete the not needed parameter and push the new file. | ||
| + | |||
| + | ==== Failsafes ==== | ||
| + | |||
| + | - Low Battery Failsafe: | ||
| + | - BAT_CRIT_THR = 0.1 (capacity [%]) | ||
| + | - BAT_EMERGEN_THR = 0.05 (capacity [%]) | ||
| + | - BAT_LOW_THR = 0.2 (capacity [%]) | ||
| + | - COM_LOW_BAT_ACT = 1 (return mode) | ||
| + | - RC Loss Failsafe: | ||
| + | - COM_RC_LOSS_T = 5 (time to detect RC-loss [s]) | ||
| + | - NAV_RCL_ACT = 0 (no action) | ||
| + | - Data Link Loss Failsafe: | ||
| + | - COM_DL_LOSS_T = 10 (time to detect datalink-loss [s]) | ||
| + | - NAV_DLL_ACT = 2 (return mode) | ||
| + | - Geofence Failsafe: | ||
| + | - GF_ACTION = 3 (return mode) | ||
| + | - GF_COUNT = -1 (counter limit to detect geofence breach) | ||
| + | - GF_MAX_HOR_DIST = 3000 (max horizontal distance home-plane [m]) | ||
| + | - GF_MAX_VER_DIST = 250 (max vertical distance home-plane [m]) | ||
| + | - Return Home Settings: | ||
| + | - RTL_DESCEND_ALT = 100 (altitude to loiter above home [m]) | ||
| + | - RTL_LAND_DELAY = -1 (no land, just loiter [s]) | ||
| + | - RTL_RETURN_ALT = 100 (altitude to flight to home [m]) | ||
| + | - RTL_TYPE = 0 (direkt path to home) | ||
| + | - Land Mode Settings: | ||
| + | - COM_DISARM_LAND = 1 (disarm after delay [s]) | ||
| + | - Position (GPS) Loss Failsafe: | ||
| + | - COM_POSCTL_NAVL = 1 (assume no RC → Land Mode with heigt, Termination without) | ||
| + | - COM_POS_FS_DELAY = 5 (time to detect GPS-loss [s]) | ||
| + | - NAV_GPSF_LT = 10 (loiter time to recover GPS [s]) | ||
| + | - NAV_GPSF_P = 0 (loiter pitch [deg]) | ||
| + | - NAV_GPSF_R = 15 (loiter roll [deg]) | ||
| + | - NAV_GPSF_TR = 0 (loiter thrust [%]) | ||
| + | - Mission Failsafe | ||
| + | - MIS_DIST_1WP = 1500 (max distance home-wp1 [m]) | ||
| + | - MIS_DIST_WPS = 2000 (max distance wp-wp [m]) | ||
| + | - Set both values to -1, if more than 10km are needed. | ||
| + | - Traffic Avoidance Failsafe | ||
| + | - NAV_TRAFF_AVOID = 2 (Return Mode) | ||
| + | |||
| ===== Releases ===== | ===== Releases ===== | ||
| Line 51: | Line 109: | ||
| * Added X-UAV Mini Talon Airframe | * Added X-UAV Mini Talon Airframe | ||
| * {{:searchwing-1.8.2-1.px4.zip|searchwing-1.8.2-1.px4.zip}} | * {{:searchwing-1.8.2-1.px4.zip|searchwing-1.8.2-1.px4.zip}} | ||
| + | * Git Hash: 1172edd2a093e614b9ca77bee753c19262295be3 | ||
| === searchwing-1.8.2-2 (27.2.2019) === | === searchwing-1.8.2-2 (27.2.2019) === | ||
| Line 56: | Line 115: | ||
| * Added Björns minimal telemetry patch for the Raspberry Pi Camera Trigger from the autopilot | * Added Björns minimal telemetry patch for the Raspberry Pi Camera Trigger from the autopilot | ||
| * {{:searchwing-1.8.2-2.px4.zip|searchwing-1.8.2-2.px4.zip}} | * {{:searchwing-1.8.2-2.px4.zip|searchwing-1.8.2-2.px4.zip}} | ||
| + | * Git Hash: 2786d39b71068917de6fab381e802f1205988af1 | ||
| + | * [[https://github.com/fredowski/Firmware/commits/searchwing-1.8.2-2|View it on github]] | ||