# Pixhawk 6C flight tests

**URL:** <https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977>\
**Category:** v1.14\
**Created:** [September 9, 2022, 6:41pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977 "2022-09-09T18:41:08Z")\
**Posts on this page:** 7\
**Page:** 1

<div class="post-metadata">

**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\
**Post date:** [September 9, 2022, 6:41pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/1 "2022-09-09T18:41:09Z")

</div>

I have opened this thread for testing Pixhawk 6C tests:

After testing today with the current main branch as the logs below I came to some points:

[https://review.px4.io/plot\_app?log=8c82286f-f0d4-446c-ab56-57b3ea5188e4](https://review.px4.io/plot_app?log=8c82286f-f0d4-446c-ab56-57b3ea5188e4)  
[https://review.px4.io/plot\_app?log=672b4922-9911-4720-9060-1f6a03a1bf69](https://review.px4.io/plot_app?log=672b4922-9911-4720-9060-1f6a03a1bf69)  
[https://review.px4.io/plot\_app?log=17057eac-c6b2-4a1c-8bd6-242946c72ad8](https://review.px4.io/plot_app?log=17057eac-c6b2-4a1c-8bd6-242946c72ad8)

I had to get help from [this PR](https://github.com/PX4/PX4-Autopilot/pull/20151) by @Vincentpoont2 although is not a solid solution to make it fly.

There is an issue tracker by @ryanjAA [here](https://github.com/PX4/PX4-Autopilot/issues/19943) which came in handy for me.

@bresch they might be interesting for you as well because of multi HGT source PR. I put the REF on Distance sensor as I have Lightware SF11/c on the drone.

---

<div class="post-metadata">

**Author:** ![bresch](https://discuss.px4.io/user_avatar/discuss.px4.io/bresch/32/2343_2.png) [@bresch](https://discuss.px4.io/u/bresch)\
**Post date:** [September 14, 2022, 2:03pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/2 "2022-09-14T14:03:36Z")

</div>

Thanks. There is something strange with the baro: it’s getting spikes to several km altitude. The EKF refuses to use it.

---

<div class="post-metadata">

**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\
**Post date:** [September 14, 2022, 2:30pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/3 "2022-09-14T14:30:52Z")

</div>

Thanks Mathieu, I will talk about during dev call today if you were available.

---

<div class="post-metadata">

**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\
**Post date:** [October 4, 2022, 5:49pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/4 "2022-10-04T17:49:02Z")

</div>

Some new tests with 1.13 release:

[https://review.px4.io/plot\_app?log=53e22bdc-0935-4e1e-952a-82bcf2e0e4dd](https://review.px4.io/plot_app?log=53e22bdc-0935-4e1e-952a-82bcf2e0e4dd)  
[https://review.px4.io/plot\_app?log=9cf6687e-7cd5-4e6b-a0b4-c42d984de633](https://review.px4.io/plot_app?log=9cf6687e-7cd5-4e6b-a0b4-c42d984de633)  
[https://review.px4.io/plot\_app?log=188eb588-41a1-474c-9ab6-036acd9d69b9](https://review.px4.io/plot_app?log=188eb588-41a1-474c-9ab6-036acd9d69b9)

---

<div class="post-metadata">

**Author:** ![Vincentpoont2](https://discuss.px4.io/user_avatar/discuss.px4.io/vincentpoont2/32/6037_2.png) [@Vincentpoont2](https://discuss.px4.io/u/Vincentpoont2)\
**Post date:** [October 10, 2022, 4:49am UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/5 "2022-10-10T04:49:53Z")

</div>

This PR should fix an issue with the baro.@bresch I assume it is related?

> <https://github.com/PX4/PX4-Autopilot/pull/20350>
>
> This prevents publishing a negative pressure which leads to a NAN altitude estim…ate further down the line.
> 
> This was discovered on the Holybro Pixhawk 6C where the ms5611 is connected via I2C, and using the release/1.13 branch.
> 
> I suspect the measuring and collecting is a bit out of whack initially which leads to this from what I can see in the console right after startup:
> 
> \`\`\`
> ms5611 #0 on I2C bus 4 (external) address 0x77
> 486836: measure(), phase: 0
> ist8310 #0 on I2C bus 4 (external) address 0xC
> WARN \[SPI\_I2C\] ist8310: no instance started (no device on bus?)
> 507538: collect(), phase: 0
> nsh: icm20948\_i2c\_passthrough: command not found
> 522745: measure(), phase: 1
> 546096: collect(), phase: 1
> failed
> 551336: collect(), phase: 1
> failed
> 557794: collect(), phase: 1
> failed
> 565867: collect(), phase: 1
> ret: 0, P: -94778, raw: 0, \_SENS: 1553559751, \_OFF: 3105658750
> 568031: measure(), phase: 2
> NAN!=====================================
> 589313: collect(), phase: 2
> ret: 0, P: 101241, raw: 8670584, \_SENS: 1553559751, \_OFF: 3105658750
> 596646: measure(), phase: 3
> INFO \[init\] Mixer: /etc/mixers/quad\_x.main.mix on /dev/pwm\_output0
> 619024: collect(), phase: 3
> ret: 0, P: 101243, raw: 8670712, \_SENS: 1553559751, \_OFF: 3105658750
> 632461: measure(), phase: 0
> INFO \[init\] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm\_output1
> 654827: collect(), phase: 0
> ekf2 \[668:237\]
> 661698: measure(), phase: 1
> 679172: collect(), phase: 1
> \`\`\`
> 
> @vincentpoont2 this should fix the altitude estimation problem that you discovered.

> <https://github.com/PX4/PX4-Autopilot/pull/20351>
>
> Backport of #20350.

---

<div class="post-metadata">

**Author:** ![ryanjAA](https://discuss.px4.io/user_avatar/discuss.px4.io/ryanjaa/32/4035_2.png) [@ryanjAA](https://discuss.px4.io/u/ryanjAA)\
**Post date:** [October 20, 2022, 2:06am UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/6 "2022-10-20T02:06:59Z")

</div>

This is a 6C flight (fw) where the baro went to -2000m. Failsafing in sensors status as well.

[https://review.px4.io/plot\_app?log=75c51333-d471-46d5-a183-0c81e0e65657](https://review.px4.io/plot_app?log=75c51333-d471-46d5-a183-0c81e0e65657)

nsh\> listener sensor\_baro  
TOPIC: sensor\_baro  
sensor\_baro  
timestamp: 306364407 (0.019055 seconds ago)  
timestamp\_sample: 306363823 (584 us before timestamp)  
device\_id: 4028193 (Type: 0x3D, I2C:4 (0x77))  
pressure: 94820.0000  
temperature: 34.0500  
error\_count: 16592

[vehicle\_air\_data] selected BARO: 4028193 (0)  
validator: best: -1, prev best: 0, failsafe: YES (621 events)  
sensor #0, prio: 1, state: TOUT ECNT  
val: 94817.0000, lp: 94832.1797 mean dev: -0.0621 RMS: 8836.0410 conf: 0.0000  
val: 36.5800, lp: 36.6044 mean dev: 0.0161 RMS: 0.3608 conf: 0.0000  
val: 556.5782, lp: 555.3652 mean dev: -0.0023 RMS: 348.4777 conf: 0.0000  
BARO 4028193 EN: 1, offset: 0.000, Internal

---

<div class="post-metadata">

**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\
**Post date:** [December 4, 2022, 1:14pm UTC](https://discuss.px4.io/t/pixhawk-6c-flight-tests/28977/7 "2022-12-04T13:14:06Z")

</div>

I am testing latest master based on what had a chat about last meeting. The very first issue is I have no RC (13.2 is ok). My Pixhawk 5X is ok with RC. I am using Radiolink RS12 with SBUS by the way.

cc: @dagar

Some outputs are below:

```auto
nsh> dmesg
HW arch: PX4_FMU_V6C
HW type: V6C000000
HW version: 0x000
HW revision: 0x000
PX4 git-hash: 45b390b0bfe21fc591b36ec898f6fc0791fc4729
PX4 version: 1.13.0 80 (17629312)
OS: NuttX
OS version: Release 10.2.0 (167903487)
OS git-hash: 6bafcb22b7d62184fd1158c0b53c8dbd884275b8
Build datetime: Nov 19 2022 03:18:42
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 00060000000034373938303151040043002d
MCU: STM32H7[4|5]xxx, rev. V
INFO [param] selected parameter default file /fs/mtd_params
INFO [param] importing from '/fs/mtd_params'
WARN [parameters] ignoring unrecognised parameter 'PWM_AUX_OUT'
WARN [parameters] ignoring unrecognised parameter 'PWM_MAIN_OUT'
INFO [parameters] BSON document size 2567 bytes, decoded 2567 bytes (INT32:44, FLOAT:83)
INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4015_holybro_s500
INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
rgbled_ncp5623c #0 on I2C bus 1 address 0x39
Board sensors: /etc/init.d/rc.board_sensors
bmi055_accel #0 on SPI bus 1 rotation 4
bmi055_gyro #0 on SPI bus 1 rotation 4
icm42688p #0 on SPI bus 1 rotation 6
ms5611 #0 on I2C bus 4 (external) address 0x77
ist8310 #0 on I2C bus 4 (external) address 0xC
ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10
lightware_laser_i2c #0 on I2C bus 4 address 0x66 rotation 25
WARN [SPI_I2C] Already running on bus 1
ekf2 [533:237]
Starting Main GPS on /dev/ttyS0
Starting MAVLink on /dev/ttyS5
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B
INFO [logger] logger started (mode=all)
INFO [logger] Logging FIFO data: increasing task prio and logging rate
INFO [logger] Start file log (type: full)
INFO [uavcan] Node ID 1, bitrate 1000000
INFO [logger] [logger] /fs/microsd/log/2022-12-04/12_57_02.ulg    
INFO [logger] Opened full log file: /fs/microsd/log/2022-12-04/12_57_02.ulg

NuttShell (NSH) NuttX-10.2.0
nsh> INFO [health_and_arming_checks] Preflight Fail: No manual control input    
INFO [gps] u-blox firmware version: SPG 3.01
INFO [gps] u-blox protocol version: 18.00
INFO [health_and_arming_checks] Preflight Fail: No manual control input    
WARN [health_and_arming_checks] Preflight: GPS fix too low
INFO [health_and_arming_checks] Preflight Fail: No manual control input    
INFO [commander] Connection to ground station lost    
WARN [health_and_arming_checks] Preflight: GPS fix too low
INFO [health_and_arming_checks] Preflight Fail: No manual control input    
INFO [commander] GCS connection regained    
WARN [health_and_arming_checks] Preflight: GPS fix too low
INFO [health_and_arming_checks] Preflight Fail: No manual control input    
WARN [health_and_arming_checks] Preflight: GPS fix too low
INFO [health_and_arming_checks] Preflight Fail: No manual control input 

```

And also:

```auto
nsh> work_queue status

Work Queue: 10 threads RATE INTERVAL
|__ 1) wq:rate_ctrl    
| |__ 1) control_allocator 665.4 Hz 1503 us
| |__ 2) mc_rate_control 665.4 Hz 1503 us
| |__ 3) pwm_out 665.4 Hz 1503 us
| \__ 4) vehicle_angular_velocity 665.4 Hz 1503 us
|__ 2) wq:SPI1         
| |__ 1) bmi055_accel 677.4 Hz 1476 us
| |__ 2) bmi055_gyro 665.4 Hz 1503 us
| \__ 3) icm42688p 811.1 Hz 1233 us
|__ 3) wq:I2C1         
| |__ 1) ist8310 46.8 Hz 21345 us
| \__ 2) rgbled_ncp5623c 9.9 Hz 100767 us
|__ 4) wq:I2C4         
| |__ 1) ist8310 46.3 Hz 21620 us
| |__ 2) lightware_laser_i2c 19.8 Hz 50441 us
| \__ 3) ms5611 92.5 Hz 10810 us
|__ 5) wq:nav_and_controllers
| |__ 1) ekf2_selector 332.7 Hz 3006 us
| |__ 2) flight_mode_manager 50.0 Hz 19999 us
| |__ 3) land_detector 110.9 Hz 9017 us
| |__ 4) mc_att_control 221.8 Hz 4508 us
| |__ 5) mc_hover_thrust_estimator 110.9 Hz 9016 us
| |__ 6) mc_pos_control 110.9 Hz 9017 us
| |__ 7) sensors 221.8 Hz 4508 us
| |__ 8) vehicle_acceleration 225.8 Hz 4428 us
| |__ 9) vehicle_air_data 69.4 Hz 14413 us
| |__10) vehicle_gps_position 5.0 Hz 199946 us
| \__11) vehicle_magnetometer 46.3 Hz 21620 us
|__ 6) wq:INS0         
| |__ 1) ekf2 221.8 Hz 4508 us
| |__ 2) ekf2 221.8 Hz 4508 us
| \__ 3) vehicle_imu 223.0 Hz 4485 us
|__ 7) wq:INS1         
| |__ 1) ekf2 202.8 Hz 4932 us
| |__ 2) ekf2 202.8 Hz 4932 us
| \__ 3) vehicle_imu 221.3 Hz 4518 us
|__ 8) wq:hp_default   
| |__ 1) battery_status 100.0 Hz 10000 us
| |__ 2) board_adc 100.0 Hz 10000 us (10000 us)
| |__ 3) gyro_fft 332.7 Hz 3006 us
| |__ 4) manual_control 5.0 Hz 200057 us
| |__ 5) mc_autotune_attitude_control 0.0 Hz 0 us
| |__ 6) rc_update 0.0 Hz 0 us
| \__ 7) tone_alarm 0.0 Hz 0 us
|__ 9) wq:uavcan       
| |__ 1) uavcan 333.3 Hz 3000 us (3000 us)
| |__ 2) uavcan-actuators-esc 3.3 Hz 299659 us (300000 us)
| \__ 3) uavcan-actuators-servo 3.3 Hz 299661 us (300000 us)
\__ 10) wq:lp_default   
    |__ 1) gyro_calibration 50.0 Hz 19999 us (20000 us)
    |__ 2) load_mon 2.0 Hz 499889 us (500000 us)
    |__ 3) mag_bias_estimator 50.0 Hz 19998 us (20000 us)
    \__ 4) send_event 30.0 Hz 33331 us (33333 us)

```

And a log in case needed:  
[https://review.px4.io/plot\_app?log=8228c1dd-62ff-4b55-a6a4-4d799ce86f40](https://review.px4.io/plot_app?log=8228c1dd-62ff-4b55-a6a4-4d799ce86f40)