Thanks! @Alex-Gardner

@modaltb
We were able to fly with 1.13 but i lost control of the servos' on PWM5-6(AUX passthrough 1-2). I tried to fix it with a custom mix file but was unsuccessful.

Im now looking at the PX4-Autopilot code to see if i can add the PMU through UAVCAN to the 1.11 build.

Im new to the architecture can u give me a few tips on where to start. Based on me looking around i think I need to be in the /src/drivers/ area?

When looking at the flight logs through Flight Review I noticed that in the local Z position graph it seems to be inverted ( moving in the negative direction when the drone is gaining altitude). Is this a common occurrence? Based on the board orientation?

There should be an option to auto tune by mapping a switch on a radio to start the auto tuning process.

@modaltb

Thanks for the response! Good to know that you guys are working on 1.13, we found that the actuators tab (SYS_CTRL_ALLOC) was a nice addition to the stack. We have not tried to fly with the 1.13 version but we may start experimenting with it more in upcoming weeks. I can keep you updated with any issues if you would like?

As far as the PMU issue above, I am sure that our after market device was ok to use.

The only drawback from using the firmware provided by PX4 (1.12.3) is that you lose functionality to adding RC channels while using a Joystick. Which is what we are doing for our project. Other than that, everything seems to work fine for what we are using.

FW 1.11.3
VOXL Flight

We are using an aftermarket PMU because our drone is 12s. In order to get battery monitoring we are connecting it to the CAN bus connector - J1008 rather than the default I2C pins on J1013. However, we kept getting a "check battery error" when trying to arm on QGC. We have UAVCAN_ENABLE set to "Automatic Config". There is also no input on the voltage reading in the battery status window. As of right now I cannot figure out how to arm the drone in this firmware. I think that there is a conflict with the modalai FW and the FW releases from PX4.

UAVCAN parameter -

Airframe and FW version -

Error message and battery status -

I did some digging because we had flown this system before and saw that we were running the FW 1.12.3 from PX4 stable releases. There are a lot more parameters supporting the UAVCAN, specifically for battery monitoring. UAVCAN_BAT_MON was set to default and the error went away and arming was no longer an issue.

UAVCAN parameters -

Battery Status on FW 1.12.3 -

@modaltb
I am now working with the firmware that you stated. We are able to passthrough the PWM 5 and 6 pins. Is there anyway to use pins 7 and 8 aswell?

@wilkinsaf
I have been uploading from

https://github.com/PX4/PX4-Autopilot/releases/download/v1.13.0/modalai_fc-v1_default.px4

@modaltb
With our joystick (https://www.uxvtechnologies.com/ground-control-stations/micronav/) , Radio Setup (Calibrate) works on Firmware 1.12.3. However no signal from the PWM board from pin 5-8.

We were able to get signal to the servo rail on the Firmware 1.13 (using sys_ctrl_alloc and the Actuators tab). We are unable to assign joystick controls to the servo. We tried to assign the servo as a gimbal, and use a button on the joystick as gimbal left/right. However the servo does not move.

Additionally, Radio Setup calibration returns "Detected 0 radio channels. 5 Channels needed". This was not an issue on the previous firmware.