Hello Hello,
some long time no see!
I recently had the opportunity to test the new PX4 (main) firmware on a 6XRT drone configuration and wanted to share my experiences, observations, and some data from the flights.
Test Setup:
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Drone Configuration:
FCU: NXP 6XRT
Telem: XBP9X Telemetry Radio – Holybro Store
Range sensor: https://lightwarelidar.com/shop/sf11-c-100-m/
Radio: RadioMaster TX16S – Holybro Store (ELRS)
Frame: X500 V2 Kits – Holybro Store
GPS sensor: DroneCAN H-RTK F9P Rover – Holybro Store
RTK set: H-RTK F9P GNSS Series – Holybro Store -
Firmware: Latest main
-
Location: Logs can tell!
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Conditions: Half cloudy weather
Observations:
The first impression was a really nice stabilized flight which was stable for real. Altitude, Position and Hold mode in addition to return and takeoff modes all we doing as they had to.
Issues & Feedback:
- The moment connecting with the battery Yaw Estimate Error was appearing.
- RTK did not switch to and I was having only 3D Lock the whole testing time. Although QGC surveying was complete!
- Latency was so high such that params took very long time than normal to be received with once in a while QGC errors mentioning Vehicle could not send params fully! (You know which error am talking about)
- Distance sensor readings are fishy
Flight Logs
https://review.px4.io/plot_app?log=e1473c74-824e-485a-9747-df5845fdc62c
This one below I guess I lost a prop while flying:
https://review.px4.io/plot_app?log=d79d993d-f06a-4521-8871-30514a7913ac
https://review.px4.io/plot_app?log=2117aa8d-cec5-43c9-af58-90e890edd7d7
https://review.px4.io/plot_app?log=f49ef237-22d9-4523-ba0b-5a5a9ed945d9
https://review.px4.io/plot_app?log=1e764a61-8943-43b9-86b8-b737c22c5d6b
https://review.px4.io/plot_app?log=54fd3e01-d8d7-4b0e-b220-6c66c10c8369
https://review.px4.io/plot_app?log=202cd046-3d08-458a-b1dd-6f1c87ab2ee7
https://review.px4.io/plot_app?log=a9d4cfa1-f03b-4397-916d-92e6a0269761
