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    Outdoor navigation GPS problem

    Qualcomm Flight RB5 5G Drone
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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @vjuliani
      last edited by

      @vjuliani The log shows a 3D GPS lock with 14 satellites.

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      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @vjuliani
        last edited by

        @vjuliani Your GPS location from the log: https://www.google.com/maps/place/22°48'54.2"S+47°02'48.1"W/@-22.8154809,-47.0471945,1108m/data=!3m1!1e3!4m4!3m3!8m2!3d-22.8150558!4d-47.0466938?entry=ttu

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        • Eric KatzfeyE
          Eric Katzfey ModalAI Team @vjuliani
          last edited by

          @vjuliani So, the GPS seems to be working okay. It's not clear why you cannot get a global position in PX4 using that data. Let me look through the parameters and see if I can suggest some others to change.

          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @vjuliani
            last edited by

            @vjuliani Can you please open a separate forum post for the drone not flying properly? Let's keep this one for the GPS issue only. Thanks!

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            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Eric Katzfey
              last edited by

              @Eric-Katzfey You can try setting EKF2_GPS_CHECK back to the default 245 value. Then experiment with the various GPS thresholds to see if you can increase any of them to get the drone to go into position mode. The relevant parameters are:

              Maximum allowed PDOP set by EKF2_REQ_PDOP
              Maximum allowed horizontal position error set by EKF2_REQ_EPH
              Maximum allowed vertical position error set by EKF2_REQ_EPV
              Maximum allowed speed error set by EKF2_REQ_SACC
              Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary.
              Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary.
              Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary.
              Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

              Eric KatzfeyE 1 Reply Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey ModalAI Team @Eric Katzfey
                last edited by

                @Eric-Katzfey Since it was originally complaining about speed accuracy then maybe you can increase EKF2_REQ_SACC and see if that error goes away. I do notice from the log that there is a lot of GPS noise and jamming. Not sure if that is part of the issue here though. Is there another open field in a different location that you can try as well?

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                • V vjuliani referenced this topic on
                • V
                  vjuliani
                  last edited by

                  Hi @Eric-Katzfey

                  Yeah, I will try in another open field in a different location and experiment with the various GPS thresholds you mentioned. Thanks!

                  We did a site survey in the open field area we tried the flights and we got the results below: tela1.png

                  tela2.png

                  We used an AARONIA AG HyperLOG Broadband Directional antenna and a Spectrum Analyzer.

                  It might help.

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                  • V
                    vjuliani
                    last edited by vjuliani

                    Hi @Eric-Katzfey

                    As you said, QGC and PX4 were receiving GPS data from M8N, however, EKF2 couldn't estimate the global and local valid positions.

                    After changing EKF2_MAG_TYPE, which value was as None, to Automatic, EKF2 could finished the global and local valid positions estimation and the drone became Ready to Fly with no issues from QGC.

                    So, now, after changing EKF2_REQ_SACC to 0.8m/s and EKF2_MAG_TYPE to Automatic, the drone became Ready to Fly and I could arm it using GPS.

                    Which is curious though is that here https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/outdoor_gps_baro.params in the EKF2 helper file, which I used to first configure the drone's PX4 params after upgrading from VOXL SDK 0.9.5 to 1.1.2, it says to set EKF2_MAG_TYPE to 0, so I am not sure if setting EKF2_MAG_TYPE to Automatic is the right fix, what are your thoughts? Is 0 meaning Automatic?

                    After setting EKF2_MAG_TYPE to Automatic, I tried some flights in Position Flight Mode and had the same problems of when I had tried the Manual Flight Mode flights (The one showed in the youtube video above), which @Alex-Kushleyev is helping me to figure it out in the https://forum.modalai.com/topic/3634/rb5-can-t-leave-the-ground-properly-when-flying-in-manual-flight-mode/ topic. The logs can be seen here https://www.mediafire.com/folder/jbuu2or25tjdr/position-flight-mode-logs

                    Thanks!

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • V vjuliani referenced this topic on
                    • Eric KatzfeyE
                      Eric Katzfey ModalAI Team @vjuliani
                      last edited by

                      @vjuliani Yes, 0 is automatic.

                      V 1 Reply Last reply Reply Quote 0
                      • V
                        vjuliani @Eric Katzfey
                        last edited by vjuliani

                        @Eric-Katzfey

                        Ok, thanks

                        Can I use the file:
                        https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/ci_helpers/ci_sentinel.params

                        To configure RB5 px4 parameters using QGC?

                        I didn't find a specific file to RB5 in the folder

                        tomT 1 Reply Last reply Reply Quote 0
                        • tomT
                          tom admin @vjuliani
                          last edited by tom

                          @vjuliani You'll want to use these: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/Sentinel_V1.params

                          Or you can run

                          voxl-configure-px4-params --platform MRB-D0006
                          
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                          • V
                            vjuliani
                            last edited by vjuliani

                            @Eric-Katzfey @tom

                            After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc

                            It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade.

                            Thank you very much guys for your help

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