I’m trying to make a bare minimum board config with EKF2 that fits in Kakute F7 flash (1MB). I’m OK using RC control only (no need for mission following). I’m at 107% flash usage with the following:
Is there a way to remove obstacle avoidance and collision prevention which I can see is now being built? Any other things I can remove to reduce size by ~7%?
Hİ @j_p i also try to use ekf2 on Kakute F7 v1.5
I will use px4flow and a companion computer.
I think your problem fits mine.
Could you please share cmake doc to help?
Thank you @j_p
As i saw u disabled dshot.
May I ask did you use dshot esc or one shot traditional?
I use Kopis2 6s setup and have an issue that i think about escs.
This is my secondary “crash-cheaply” drone that I use to test Px4 integration with the companion PC and data-link. It’s running cheap Turnigy Multistar 32bit PWM ESCs that are more than enough for my needs. Although I must admit I consider moving to something more digital…
@j_p Did you get this working? I tried 1.11 beta and had similar motor issues. Im reverting to 1.10.2 but so far have not been able to get it to spin all 4 motors.
No, I did not, and reverted back to 1.10.2. I might be able to spend some more time this weekend and make a new build from Git to see if anything changed.
I’ve got ekf2 compiled on the KakuteF7 by deleting some modules, but the problem I have now is that there are errors in the AHRS and Pre-arm check (I’m seeing this from QGroundControl).
Has anyone got the EKF2 actually working and flying with it?
I’m not using GPS or magnetometer. Just the IMU and barometer that comes on the board.
Hey, I’m still working on this actually with no success so far.
Baro and Mag aren’t working AT ALL on a KakuteF7 (for me) right now so maybe that’s creating issues with the EKF2?
Because compiling a “bare minimum” isn’t that hard it’s just that this still won’t lead to any improvements… ;D
Please anyone with knowledge of the KakuteF7 look into this pretty please!
Been trying some more and so far I can see the Baro working in Mavlink Inspector - Altitude just not relaying that info to QGC…
But all my compiles towards the EKF2 do not get it working correctly yet.
It looks all fine except for when doing Calibration - Level Horizon it errors “estimator not running - check boot”.
Should EKF2 on this FC (v1.5) run at least in theory, like spec wise and all…?
cheers
EDIT:
Okay big progress here: EKF2 running and working including Baro and Magnetometer. Yay.
Only thing weird is no data from 2nd GPS is being read anymore it seems. It has a lock as per its LED indicator but the GPS2_RAW topic is gone.
Anyway I hope I can do an actual flight test later today. <3
Hi again, sorry for clugging this thread up but I’m so excited.
Just returned from flight testing and it actually worked!
Here’s my default.cmake for reference.
You have to edit the corresponding drivers for your mag hardware of course but this compiled and flew.
Oh and I also added “-X start” to onboard baro in rc.board_sensors as will be included from 1.13.0.
Hi! I am so excited to find your comments on this issue. I meet the same problem when using Kakute H7 just like you said. The baro seems to work but I cannot calibrate the level horizon.
Firstly, I thought it may be the problem that there is no mag on the rc board. However, I noticed that you have solved this problem well with baro and mag. So if it’s possible to solve it without using mag? Because I will use vicon or vision system to provide the yaw estimate.
Could you give me some idea how to make the EKF2 work and make the level horizon calibration work properly?
I had the same issue. My flight controller is mounted upside-down. After I changed my board orientation to roll 180 the calibrate level horizon worked.
