Hello guys. Currently, I am having a problem trying to loiter indoors without gps, and after reviewing a lot of discussion in github and px4.io, this is what I have done.
Hardware: DJI F450, pixhawk, px4flow (flashed with the default px4flow firmware and ultrasound facing forwards)
Firmware: build from px4fmu-v2_default after editing the cmake file. I tried to build the px4fmu-v2_LPE but it is not compiling, citing ‘specify a unique binary directory name’ as error.
therefore parts of Firmware/cmake/configs/nuttx_px4fmu-v2_default.cmake is then edited:
#
# Estimation modules
#
modules/attitude_estimator_q
#modules/position_estimator_inav
modules/local_position_estimator
#modules/ekf2
set(PARAM_DEFAULT_OVERRIDES “{\"SYS_MC_EST_GROUP\": 1}”)
The compilation of px4fmu-v2_default was a success, and all LPE params are now available. I then adjusted the params:
LPE_FUSION 242 (select no vision, no GPS. LPE_GPS_ON is not listed anymore.)
MPC_ALT_MODE 1
flight test:
POSHOLD mode
The altitude is not stable, and it keeps drifting away horizontally. LED went from blinking green to rapid blinking purple and its impossible to disarm at ground during the whole POSHOLD mode. I have to switch to STABILIZE mode to disarm.
If I set land detector to off in LPE_FUSION (226), POSHOLD will not allow arming.
Can you see where I might have messed up? Also, what is land detector, is it sonar? Thanks!
Logs
outdoors: FASTPANEL
2017_02_20_12_02_26: MANUAL KILL SWITCH ENGAGED
2017_02_20_12_02_28: [lpe] land init
2017_02_20_12_02_31: [lpe] baro init 47 m std 28 cm
2017_02_20_12_02_33: MANUAL KILL SWITCH OFF
2017_02_20_12_02_39: ARMED by RC
2017_02_20_12_02_39: [blackbox] /fs/microsd/log/2017-02-20
2017_02_20_12_02_39: [blackbox] recording: 12_02_39.px4log
2017_02_20_12_02_45: Takeoff detected
2017_02_20_12_02_46: [lpe] land timeout
2017_02_20_12_02_51: MANUAL KILL SWITCH ENGAGED
2017_02_20_12_02_54: no RC
2017_02_20_12_02_54: failsafe mode on
2017_02_20_12_03_02: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_03: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_03: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_04: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_04: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_04: failsafe mode off
2017_02_20_12_03_07: MANUAL KILL SWITCH OFF
2017_02_20_12_03_09: DISARMED by RC
2017_02_20_12_03_09: [lpe] land init
2017_02_20_12_03_10: [blackbox] stopped (7140 drops)
2017_02_20_12_03_10: Landing detected
2017_02_20_12_03_14: ARMED by RC
2017_02_20_12_03_14: [blackbox] /fs/microsd/log/2017-02-20
2017_02_20_12_03_14: [blackbox] recording: 12_03_14.px4log
2017_02_20_12_03_21: Takeoff detected
2017_02_20_12_03_22: [lpe] land timeout
2017_02_20_12_03_26: MANUAL KILL SWITCH ENGAGED
2017_02_20_12_03_26: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_29: no RC
2017_02_20_12_03_29: failsafe mode on
2017_02_20_12_03_36: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_36: failsafe mode off
2017_02_20_12_03_37: DISARMED by RC
2017_02_20_12_03_38: [lpe] land init
2017_02_20_12_03_38: [blackbox] stopped (1251 drops)
2017_02_20_12_03_39: Landing detected
2017_02_20_12_03_41: MANUAL KILL SWITCH OFF
2017_02_20_12_03_42: ARMED by RC
2017_02_20_12_03_42: [blackbox] /fs/microsd/log/2017-02-20
2017_02_20_12_03_43: [blackbox] recording: 12_03_42.px4log
2017_02_20_12_03_48: Takeoff detected
2017_02_20_12_03_49: [lpe] land timeout
2017_02_20_12_03_51: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_51: MANUAL KILL SWITCH ENGAGED
2017_02_20_12_03_52: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_12_03_55: DISARMED by RC
2017_02_20_12_03_55: [lpe] land init
2017_02_20_12_03_56: [blackbox] stopped (0 drops)
2017_02_20_12_03_56: LOW BATTERY, TAKEOFF DISCOURAGED
2017_02_20_12_03_57: CRITICAL BATTERY, SHUT SYSTEM DOWN
2017_02_20_12_03_57: Landing detected
2017_02_20_12_04_13: MANUAL KILL SWITCH OFF
2017_02_20_12_04_15: CAUTION: Avionics power low: 4.87 Volt
2017_02_20_12_04_15: ARMED by RC
2017_02_20_12_04_15: [blackbox] /fs/microsd/log/2017-02-20
2017_02_20_12_04_15: [blackbox] recording: 12_04_15.px4log
2017_02_20_12_04_17: DISARMED by RC
2017_02_20_12_04_18: [blackbox] stopped (0 drops)
indoors: FASTPANEL
2017_02_20_16_55_02: MANUAL KILL SWITCH ENGAGED
2017_02_20_16_55_04: [lpe] land init
2017_02_20_16_55_06: MANUAL KILL SWITCH OFF
2017_02_20_16_55_07: [lpe] baro init 27 m std 29 cm
2017_02_20_16_55_25: ARMED by RC
2017_02_20_16_55_26: [blackbox] /fs/microsd/log/2017-02-20
2017_02_20_16_55_26: [blackbox] recording: 16_55_25.px4log
2017_02_20_16_55_32: Takeoff detected
2017_02_20_16_55_33: LOW BATTERY, RETURN TO LAND ADVISED
2017_02_20_16_55_33: CRITICAL BATTERY, LANDING ADVISED!
2017_02_20_16_55_33: [lpe] land timeout
2017_02_20_16_55_39: MANUAL KILL SWITCH ENGAGED
2017_02_20_16_55_41: no RC
2017_02_20_16_55_41: failsafe mode on
2017_02_20_16_55_46: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_47: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_47: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_49: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_49: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_50: NOT DISARMING: Not in manual mode or landed yet.
2017_02_20_16_55_52: failsafe mode off
2017_02_20_16_55_54: DISARMED by RC
2017_02_20_16_55_54: [lpe] land init
2017_02_20_16_55_55: [blackbox] stopped (2483 drops)
2017_02_20_16_55_55: Landing detected
2017_02_20_16_56_05: MANUAL KILL SWITCH OFF
2017_02_20_16_56_06: ARMING DENIED: LOW BATTERY
2017_02_20_16_56_07: NOT ARMING: Preflight checks failed