I have updated the firmware to the newest master. My FMu-v5 usually can not be controlled via RC after boot if it connects to QGC first. Although the RC input can be seem at the QGC’s setting interface, it can’t output anything to the servo via pwm.
I find the issue at CUAV-V5+.And the airframe is the standard AETRFG plane. I connect the ESC to the pwm output of the FC to power the servos.
The FC can receive the signal sent by RC(you can see it at the interface of QGC). But it just can’t control anything at all if it connects QGC directly after boot. Then you can only control the FC via QGC. Even the mode switching can’t work via RC input.
The only way to make it works is that you should disconnect the FC from the QGC first. Power the FC and wait about 1~2 seconds after it boots. Then you connect the FC to QGC again. Both the RC and the QGC’s control can work.
The message about my firmware:
nsh> ver all
HW arch: PX4_FMU_V5
HW type: V550 HW version: 0x00000005
HW revision: 0x00000000
FW git-hash: ed28b216c7f904c2e2f95cd494fa1b0c82e6f4e0 FW version: 1.13.0 40 (17629248)
FW git-branch: master
OS: NuttX OS version: Release 8.2.0 (134349055)
OS git-hash: 0a5f0d0b6cd238ad824c594cf1183ed8d99daaff Build datetime: Feb 2 2022 17:03:55 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000333039313538510a00320036 MCU: STM32F76xxx, rev. Z
nsh> dmesg
HW arch: PX4_FMU_V5
HW type: V550
HW version: 0x00000005
HW revision: 0x00000000
FW git-hash: ed28b216c7f904c2e2f95cd494fa1b0c82e6f4e0 FW version: 1.13.0 40 (17629248)
FW git-branch: master OS: NuttX OS version: Release 8.2.0 (134349055)
OS git-hash: 0a5f0d0b6cd238ad824c594cf1183ed8d99daaff Build datetime: Feb 2 2022 17:03:55 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000333039313538510a00320036
MCU: STM32F76xxx, rev. Z
INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from ‘/fs/mtd_params’ INFO [parameters] BSON document size 2707 bytes, decoded 2707 bytes (INT32:47, FLOAT:86) 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 INFO [dataman] data manager file ‘/fs/microsd/dataman’ size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 Loading airframe: /etc/init.d/airframes/2100_standard_plane INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 bmi055_accel #0 on SPI bus 1 rotation 2 bmi055_gyro #0 on SPI bus 1 rotation 2 ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 ms4525_airspeed #0 on I2C bus 1 (external) address 0x28 WARN [SPI_I2C] Already running on bus 1 Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/AETRFG.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 ekf2 [1006:100] INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.2.0 nsh> ERROR [uavcan] couldn’t start parameter count: -2 INFO [commander] Failsafe mode activated INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50
nsh> param show -c
Symbols: x = used, + = saved, * = unsaved x + BAT1_A_PER_V [17,26] : inf x + BAT1_N_CELLS [20,30] : 4 x + BAT1_V_CHARGED [24,35] : 4.2000 x + BAT1_V_DIV [25,36] : 19.9942 x + BAT_N_CELLS [43,56] : 4 x + CAL_ACC0_ID [48,61] : 3670026 x + CAL_ACC0_PRIO [49,62] : 50 x + CAL_ACC0_XOFF [52,65] : 0.2500 x + CAL_ACC0_XSCALE [53,66] : 1.0282 x + CAL_ACC0_YOFF [54,67] : 0.0047 x + CAL_ACC0_YSCALE [55,68] : 0.9901 x + CAL_ACC0_ZOFF [56,69] : -0.0085 x + CAL_ACC0_ZSCALE [57,70] : 0.9952 x + CAL_ACC1_ID [58,71] : 3932170 x + CAL_ACC1_PRIO [59,72] : 50 x + CAL_ACC1_XOFF [62,75] : 0.4873 x + CAL_ACC1_XSCALE [63,76] : 1.0254 x + CAL_ACC1_YOFF [64,77] : -0.1602 x + CAL_ACC1_YSCALE [65,78] : 0.9905 x + CAL_ACC1_ZOFF [66,79] : -0.3589 x + CAL_ACC1_ZSCALE [67,80] : 0.9876 x + CAL_ACC2_ID [68,81] : 4259850 x + CAL_ACC2_PRIO [69,82] : 50 x + CAL_ACC2_XOFF [72,85] : 0.5605 x + CAL_ACC2_XSCALE [73,86] : 1.0160 x + CAL_ACC2_YOFF [74,87] : -0.1989 x + CAL_ACC2_YSCALE [75,88] : 0.9839 x + CAL_ACC2_ZOFF [76,89] : 0.1312 x + CAL_ACC2_ZSCALE [77,90] : 0.9837 x + CAL_GYRO0_ID [82,104] : 3932170 x + CAL_GYRO0_PRIO [83,105] : 50 x + CAL_GYRO0_TEMP [85,107] : 24.7062 x + CAL_GYRO0_XOFF [86,108] : 0.0072 x + CAL_GYRO0_YOFF [87,109] : -0.0066 x + CAL_GYRO0_ZOFF [88,110] : 0.0020 x + CAL_GYRO1_ID [89,111] : 4325386 x + CAL_GYRO1_PRIO [90,112] : 50 x + CAL_GYRO2_ID [96,118] : 4325386 + CAL_GYRO2_PRIO [-1,119] : 50 + CAL_GYRO2_XOFF [-1,122] : -0.0019 + CAL_GYRO2_YOFF [-1,123] : 0.0026 + CAL_GYRO2_ZOFF [-1,124] : -0.0009 x + CAL_MAG0_ID [98,132] : 396825 x + CAL_MAG0_PRIO [99,133] : 50 x + CAL_MAG0_XODIAG [103,137] : -0.0071 x + CAL_MAG0_XOFF [104,138] : -0.0238 x + CAL_MAG0_XSCALE [105,139] : 1.0214 x + CAL_MAG0_YODIAG [107,141] : -0.0451 x + CAL_MAG0_YOFF [108,142] : 0.4150 x + CAL_MAG0_YSCALE [109,143] : 0.9479 x + CAL_MAG0_ZODIAG [111,145] : 0.0246 x + CAL_MAG0_ZOFF [112,146] : -0.2285 x + CAL_MAG0_ZSCALE [113,147] : 0.9954 x + CAL_MAG1_ID [114,148] : 396809 x + CAL_MAG1_PRIO [115,149] : 75 x + CAL_MAG1_ROT [116,150] : 0 x + CAL_MAG1_XODIAG [119,153] : 0.0125 x + CAL_MAG1_XOFF [120,154] : 0.1246 x + CAL_MAG1_XSCALE [121,155] : 1.0219 x + CAL_MAG1_YODIAG [123,157] : -0.0873 x + CAL_MAG1_YOFF [124,158] : -0.2445 x + CAL_MAG1_YSCALE [125,159] : 0.9615 x + CAL_MAG1_ZODIAG [127,161] : -0.0531 x + CAL_MAG1_ZOFF [128,162] : 0.9290 x + CAL_MAG1_ZSCALE [129,163] : 1.0278 x + COM_DISARM_LAND [166,383] : 0.0000 x + COM_FLIGHT_UUID [172,389] : 1169 x + COM_FLTMODE1 [173,390] : 5 x + COM_FLTMODE4 [176,393] : 8 x + COM_FLTMODE6 [178,395] : 0 x + LND_FLIGHT_T_LO [495,768] : 938704590 x + MAN_ARM_GESTURE [496,819] : 0 x + MAV_TYPE [513,844] : 1 x + PWM_AUX_OUT [606,1152] : 1234 x + PWM_MAIN_DIS1 [643,1229] : 1500 x + PWM_MAIN_DIS2 [644,1230] : 1500 x + PWM_MAIN_DIS4 [646,1232] : 1500 x + PWM_MAIN_DIS5 [647,1233] : 1100 x + PWM_MAIN_DIS6 [648,1234] : 2000 x + PWM_MAIN_OUT [678,1272] : 1234 x + RC10_MAX [699,1315] : 1934.0000 x + RC10_MIN [700,1316] : 1094.0000 x + RC10_TRIM [702,1318] : 1514.0000 x + RC17_MAX [734,1350] : 1998.0000 x + RC17_MIN [735,1351] : 998.0000 x + RC17_TRIM [737,1353] : 1498.0000 x + RC1_MAX [744,1360] : 1934.0000 x + RC1_MIN [745,1361] : 1096.0000 x + RC1_TRIM [747,1363] : 1516.0000 x + RC2_MAX [749,1365] : 1934.0000 x + RC2_MIN [750,1366] : 1094.0000 x + RC2_REV [751,1367] : -1.0000 x + RC2_TRIM [752,1368] : 1512.0000 x + RC3_MAX [754,1370] : 1934.0000 x + RC3_MIN [755,1371] : 1094.0000 x + RC3_TRIM [757,1373] : 1094.0000 x + RC4_MAX [759,1375] : 1934.0000 x + RC4_MIN [760,1376] : 1094.0000 x + RC4_REV [761,1377] : -1.0000 x + RC4_TRIM [762,1378] : 1514.0000 x + RC5_MAX [764,1380] : 1934.0000 x + RC5_MIN [765,1381] : 1094.0000 x + RC5_TRIM [767,1383] : 1514.0000 x + RC6_MAX [769,1385] : 1934.0000 x + RC6_MIN [770,1386] : 1094.0000 x + RC6_TRIM [772,1388] : 1514.0000 x + RC7_MAX [774,1390] : 1934.0000 x + RC7_MIN [775,1391] : 1094.0000 x + RC7_TRIM [777,1393] : 1514.0000 x + RC8_MAX [779,1395] : 1934.0000 x + RC8_MIN [780,1396] : 1094.0000 x + RC8_TRIM [782,1398] : 1514.0000 x + RC9_MAX [784,1400] : 1934.0000 x + RC9_MIN [785,1401] : 1094.0000 x + RC9_REV [786,1402] : -1.0000 x + RC9_TRIM [787,1403] : 1514.0000 x + RC_CHAN_CNT [789,1405] : 18 x + RC_MAP_ARM_SW [795,1411] : 9 x + RC_MAP_AUX1 [796,1412] : 6 x + RC_MAP_AUX2 [797,1413] : 7 x + RC_MAP_FLAPS [803,1419] : 5 x + RC_MAP_FLTMODE [804,1420] : 8 x + RC_MAP_GEAR_SW [806,1422] : 6 x + RC_MAP_PITCH [815,1431] : 2 x + RC_MAP_ROLL [819,1435] : 1 x + RC_MAP_THROTTLE [821,1437] : 3 x + RC_MAP_TRANS_SW [822,1438] : 17 x + RC_MAP_YAW [823,1439] : 4 x + SENS_BOARD_X_OFF [860,1479] : -0.0222 x + SENS_BOARD_Y_OFF [861,1480] : 1.8064 x + SENS_DPRES_OFF [864,1485] : 53.5906 x + SENS_EN_MS4525 [871,1493] : 1 x + SYS_AUTOSTART [903,1588] : 2100
nsh> px4io status
protocol 5 hardware 2 bootloader 3 buffer 64B crc 0x1388160798 8 controls 8 actuators 18 R/C inputs 2 analog inputs
px4io_status timestamp: 97828651 (0.203024 seconds ago) voltage_v: 5.1720 rssi_v: 1.6490 free_memory_bytes: 1848 pwm: [1500, 1500, 900, 1500, 1100, 2000, 0, 0] pwm_disarmed: [1500, 1500, 900, 1500, 1100, 2000, 0, 0] pwm_failsafe: [0, 0, 0, 0, 0, 0, 0, 0] pwm_rate_hz: [50, 50, 50, 50, 50, 50, 50, 50] raw_inputs: [1516, 1491, 1094, 1514, 1094, 1094, 1094, 1514, 1514, 1514, 1514, 1514, 1514, 1514, 1514, 1514, 1998, 998] status_arm_sync: True status_failsafe: False status_fmu_initialized: True status_fmu_ok: True status_init_ok: True status_outputs_armed: True status_raw_pwm: True status_rc_ok: True status_rc_dsm: False status_rc_ppm: False status_rc_sbus: True status_rc_st24: False status_rc_sumd: False status_safety_off: True alarm_pwm_error: False alarm_rc_lost: True arming_failsafe_custom: True arming_fmu_armed: False arming_fmu_prearmed: False arming_force_failsafe: False arming_io_arm_ok: True arming_lockdown: False arming_termination_failsafe: False 18 raw R/C inputs 1516 1491 1094 1514 1094 1094 1094 1514 1514 1514 1514 1514 1514 1514 1514 1514 1998 998
ADC inputs 2153 2053 features 0x0004 RSSI_ADC sbus rate 72 debuglevel 0 INFO [mixer_module] Param prefix: PWM_MAIN control latency: 18386 events, 6024140us elapsed, 327.65us avg, min 296us max 4598us 264.642us rms
INFO [mixer_module] Switched to rate_ctrl work queue INFO [mixer_module] Mixer loaded: yes INFO [mixer_module] Driver instance: 0 Channel Configuration: Channel 0: value: 1500, failsafe: 0, disarmed: 1500, min: 1000, max: 2000 Channel 1: value: 1500, failsafe: 0, disarmed: 1500, min: 1000, max: 2000 Channel 2: value: 900, failsafe: 0, disarmed: 900, min: 1000, max: 2000 Channel 3: value: 1500, failsafe: 0, disarmed: 1500, min: 1000, max: 2000 Channel 4: value: 1100, failsafe: 0, disarmed: 1100, min: 1000, max: 2000 Channel 5: value: 2000, failsafe: 0, disarmed: 2000, min: 1000, max: 2000 Channel 6: value: 0, failsafe: 0, disarmed: 0, min: 1000, max: 2000 Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 1000, max: 2000