Pixhawk - Marvelmind

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amolad
Posts: 34
Joined: Wed Jan 18, 2017 12:56 pm

Re: Pixhawk - Marvelmind

Postby amolad » Fri Apr 21, 2017 12:17 pm

Hi Hendrik,

Sounds interesting! Will give it a try today

freaad
Posts: 22
Joined: Fri Dec 09, 2016 1:59 am

Re: Pixhawk - Marvelmind

Postby freaad » Wed Apr 26, 2017 1:13 am

Dear hendrik
I don't get it your explanation

Rotate marvelmind with the xy button to create a north reference in the marvelmind map. (may differ from magnetic north)
Place copter (rover) in the map with north pointing in the same direction as north on the marvelmind map.
Could you give some tip about this part.
The yaw on Missionplanner gives the offset voor de declination
Enter -yaw in declination of compass in Missionplanner.

Reboot pixhawk.

Yaw should be around zero now.
My yaw is 350 value and my direction is circleing every 10 second.

Hendrik
Posts: 31
Joined: Wed Dec 07, 2016 12:29 pm

Re: Pixhawk - Marvelmind

Postby Hendrik » Wed Apr 26, 2017 5:51 pm

@freaad

Did you create a new firmware with the changes?

Did you use the following button
Screen Shot 2017-04-26 at 16.35.29.png
Screen Shot 2017-04-26 at 16.35.29.png (6.43 KiB) Viewed 2191 times
to align your map with N on the map.
You mustn't rotate the map manually. The button should do the work.
(press button, choose left bottom beacon, right bottom beacon, left top beacon)

Result should be like:
IMG_5241.JPG
IMG_5241.JPG (99.83 KiB) Viewed 2191 times


At compass setting in Mission planner, disable "Obtain ..." and at "Degrees" fill in the yaw offset.
Reboot.

Yaw should be round 0.
Attachments
Screen Shot 2017-04-26 at 16.41.39.png
Screen Shot 2017-04-26 at 16.41.39.png (44.54 KiB) Viewed 2191 times

freaad
Posts: 22
Joined: Fri Dec 09, 2016 1:59 am

Re: Pixhawk - Marvelmind

Postby freaad » Wed Apr 26, 2017 5:56 pm

Thank you for your answer.

I found the button. I will try it.
Also I wanted to change the those parameter on the mission planner but I couldn't do it(maybe I need update about my mission planner also).
my value was 0 o -60
My yaw state was more the 300.

freaad
Posts: 22
Joined: Fri Dec 09, 2016 1:59 am

Re: Pixhawk - Marvelmind

Postby freaad » Wed Apr 26, 2017 7:00 pm

mission.PNG
mission.PNG (4.85 KiB) Viewed 2187 times

I set the what you said before.However I still have floating about my yaw.

yaw2.PNG
yaw2.PNG (9.42 KiB) Viewed 2187 times


I attached my log file about status.
It is rotating seriously.
Attachments
2017-04-26 10-46-43.zip
(119.39 KiB) Downloaded 21 times

Hendrik
Posts: 31
Joined: Wed Dec 07, 2016 12:29 pm

Re: Pixhawk - Marvelmind

Postby Hendrik » Fri Apr 28, 2017 9:02 am

@freaad

Yaw is floating indeed.
But with good calibration of accels it should be less than a degree in a few minutes.
When the yaw is too big I reboot the pixhawk.
My flying path is within a few minutes.

Letting the pixhawk rest for a few minutes before reading yaw and modifying declination seems to help.

(with the modified firmware and calibrated accels)
I put the drone in homeposition.
Attach the battery and wait a few minutes.
I set declination to 0
Then I reboot the pixhawk and read the yaw.
I enter the yaw as -yaw in declination.
Then I reboot the pixhawk and everything is good to go.

freaad
Posts: 22
Joined: Fri Dec 09, 2016 1:59 am

Re: Pixhawk - Marvelmind

Postby freaad » Fri Apr 28, 2017 8:34 pm

Dear hendrik
Did you calibrate your uav when beacon is connected?
as you said before reboot was helpful.
I will try to test it on Sunday​. My lab is less noisy on weekends.

brandoman
Posts: 3
Joined: Wed Jun 07, 2017 10:38 pm

Re: Pixhawk - Marvelmind

Postby brandoman » Wed Jun 07, 2017 10:43 pm

Has there been any movement on this topic? I too am building a rover with Pixhawk and MArvelmind.

Unfortunately I am just starting out with both so I can't offer a lot of help but I will if I can.

px4marv
Posts: 2
Joined: Tue Oct 17, 2017 6:05 pm

Re: Pixhawk - Marvelmind

Postby px4marv » Tue Oct 17, 2017 6:12 pm

Hendrik wrote:@freaad

Yaw is floating indeed.
But with good calibration of accels it should be less than a degree in a few minutes.
When the yaw is too big I reboot the pixhawk.
My flying path is within a few minutes


Hendrik,

Thanks for posting all the info you've found on this forum. I have checked out your code changes as seen in this patch:

https://github.com/ArduPilot/ardupilot/ ... 159e2fa3aa

But it isn't working for me still, and I'm not sure what I'm doing wrong. I have a small quad with pixhawk and a 4 beacon marvel mind. I'm operating the copter inside a large building with concrete walls and high powered electronics.

I compiled the firmware with your changes, flashed the pixhawk, went through initial setup of pixhawk, then setup marvelmind beacons at 4 corners of the room. Next I found where north is on marvelmind map, and setup the copter to face that same north. I then adjusted compass values so the copter sees the same north.

When I fly the copter, I get mag anomaly errors randomly, and when they occur, the copter flies in a random direction. I had thought your code changes got rid of using the onboard compass and instead used a relative location from the starting point.

Any idea how to proceed? TIA!

prash319
Posts: 8
Joined: Thu Nov 24, 2016 8:04 am

Re: Pixhawk - Marvelmind

Postby prash319 » Tue Nov 14, 2017 12:43 pm

Hi hendrik

It's amazing that you were able to achieve this. But there is just too much information here across several comments. It would be great if you could tell us once again in steps. Thanks


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