1.14.3 version for Pixhawk 6C mini

Pixhawk
1

Hey,

Having some issues with my Pixhawk 6C Mini and could use some help finding a specific firmware version.

I’ve tried various v1.15 versions, v1.16.0, and the ArduPilot versions that are supposed to be compatible, but they always seem to have some problem with my setup.

Thing is, I have another Pixhawk 6C Mini that’s running v1.14.3 and it works great, so I know that version should work for me. Problem is I can’t find the actual firmware file anywhere. The release is on GitHub but there’s no downloadable .px4 file.

Anyone happen to have a copy of px4_fmu-v6c_default.px4 for v1.14.3? Or know where I can find it?

Thanks!

2

v1.15 and v1.16 should work fine with Pixhawk 6C mini.

What are the errors?

3

I agree that 6C Mini has serious issues with M9N GPS/Compass and internal compass with 1.16.0.

I also would like to get 1.14.3 which is the out of the box fw of 6C Mini. Having 1.15.4 would also help.

Working on 1.15.0, it is better with GPS (more sats discovered), but still struggling with internal compass accuracy, while trying to configure not close to any mag source, even the frame itself.

4

Actually, as newbie in PX4 and FC, would like to comment on few points, please kindly inform if this is not the right place/topic.

Trying to build a simple drone with basic autonom functions, just like simple mission, “position” and “rtl” commands.

1-) To avoid/lower magnetic noise, best advice is to disable internal and use external compass. This is not a trivial task. You can set parameters, But I cant find a straightforward way to verify if set parameters are actually applied (before and after reboot). QGroundcontrol main menu always shows internal compass, even it is disbaled via CAL_MAG0_PRIO. So we cant be sure that if we successfully disabled internal compass

2-) Calibration: Is there any method to calibrate only external compass? couldnt find it.

3-)Magnetic Noise: That would help a lot, if QGC could have a page to show realtime magnetic noise per compass, just like in PID pages.

Thanks for your patience for reading our frustration based complain like comments :smiley:

5

By default the EKF will use the external mags. The internal one doesn’t have to explicitly be disabled which means it’s still there as a fallback.

6

1-) how can we verify external compass is in use?

2-) how can we verify external compass is calibrated correctly and functioning well? (On QGC main screen I can only see internal compass movements)

7

this is with 1.15.0 . On this setup, number of Sats were limited with 16. But after fallback to 1.15.0, sat numbers are between 22-26. https://review.px4.io/plot_app?log=c7a0640d-fe17-4ac7-a349-d6b005a27986

It looks like we get significant magnetic noise. Even it also complains about GPS Noise, jamming indicator etc, GPS values seems intact and working fine.

High voltage Electric lines are about 500 meters away. It is Holybro M9N GPS/Compass and installed 12cm higher then the frame level. No specific isolation for magnetic fields.

Any comments welcome, including but not limited to gps, magnetic noise, ATT estimations, PID etc
Also, Failsafe flag status - is it really battery health? Battery reading via QGC seems ok, no glitches in acro mode.

8

In the MAVLink shell, check listener sensor_mag to see the sensors found, and also check sensors status to see what is used.