Hello,
I want to use PPS signal form GNSS module, inject using AUX5 as GPIO PPS input, but after configuration Pixhawk still doesn’t show PPS. Any suggestions? Pixhawk 6x v2a with PX4 stable v1.15.4 and Ublox M10
That will require some work. For us to help it might help to give some context on why you want/need this.
FLARM requires precise time synchronization with GNSS, in a standard configuration the jitter is 5-10 ms, and during long missions FLAM may stop working due to time synchronization jitter exceeding 10 ms. So in this case we want to allow to inject PPS signal for better time sync.
Ok, understood. What’s FLARM? 
FLARM is a collision avoidance system, used by gliders, UAV, helicopters and more. FLARM use 868 MHz frequency to share data (similar to ADS-B) and has implemented avoidance algorithm to prevent collisions. In PX4 we have similar functionality based on ADS-B.
Ok, I understand.
Have you had a look at this? Maybe that helps.
I compiled this and uploaded it to my Pixhawk 6x v2A, connected the PPS signal to FMU AUX 1 (pin S as INPUT), configured it as PPS INPUT, but still nothing…
# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Unknown
# Version: 1.16.0 rc
# Git Revision: ce9bb0dc6b000000
#
# Vehicle-Id Component-Id Name Value Type
1 1 ADC_ADS1115_EN 0 6
1 1 ADSB_CALLSIGN_1 0 6
1 1 ADSB_CALLSIGN_2 0 6
1 1 ADSB_EMERGC 0 6
1 1 ADSB_EMIT_TYPE 14 6
1 1 ADSB_GPS_OFF_LAT 0 6
1 1 ADSB_GPS_OFF_LON 0 6
1 1 ADSB_ICAO_ID 4723252 6
1 1 ADSB_LEN_WIDTH 1 6
1 1 ADSB_SQUAWK 7000 6
1 1 ASPD_SCALE_1 1.000000000000000000 9
1 1 BAT1_A_PER_V -1.000000000000000000 9
1 1 BAT1_CAPACITY -1.000000000000000000 9
1 1 BAT1_I_CHANNEL -1 6
1 1 BAT1_I_OVERWRITE 0.000000000000000000 9
1 1 BAT1_N_CELLS 0 6
1 1 BAT1_R_INTERNAL -1.000000000000000000 9
1 1 BAT1_SOURCE 0 6
1 1 BAT1_V_CHANNEL -1 6
1 1 BAT1_V_CHARGED 4.050000190734863281 9
1 1 BAT1_V_DIV -1.000000000000000000 9
1 1 BAT1_V_EMPTY 3.599999904632568359 9
1 1 BAT2_A_PER_V -1.000000000000000000 9
1 1 BAT2_CAPACITY -1.000000000000000000 9
1 1 BAT2_I_CHANNEL -1 6
1 1 BAT2_I_OVERWRITE 0.000000000000000000 9
1 1 BAT2_N_CELLS 0 6
1 1 BAT2_R_INTERNAL -1.000000000000000000 9
1 1 BAT2_SOURCE -1 6
1 1 BAT2_V_CHANNEL -1 6
1 1 BAT2_V_CHARGED 4.050000190734863281 9
1 1 BAT2_V_DIV -1.000000000000000000 9
1 1 BAT2_V_EMPTY 3.599999904632568359 9
1 1 BAT_AVRG_CURRENT 15.000000000000000000 9
1 1 BAT_CRIT_THR 0.070000000298023224 9
1 1 BAT_EMERGEN_THR 0.050000000745058060 9
1 1 BAT_LOW_THR 0.150000005960464478 9
1 1 BAT_V_OFFS_CURR 0.000000000000000000 9
1 1 CAL_ACC0_ID 3407898 6
1 1 CAL_ACC0_PRIO 50 6
1 1 CAL_ACC0_ROT -1 6
1 1 CAL_ACC0_XOFF -0.015345573425292969 9
1 1 CAL_ACC0_XSCALE 1.014099955558776855 9
1 1 CAL_ACC0_YOFF 0.052917957305908203 9
1 1 CAL_ACC0_YSCALE 1.002399206161499023 9
1 1 CAL_ACC0_ZOFF 0.045313358306884766 9
1 1 CAL_ACC0_ZSCALE 1.007852435111999512 9
1 1 CAL_ACC1_ID 3407890 6
1 1 CAL_ACC1_PRIO 50 6
1 1 CAL_ACC1_ROT -1 6
1 1 CAL_ACC1_XOFF 0.016436100006103516 9
1 1 CAL_ACC1_XSCALE 1.013436317443847656 9
1 1 CAL_ACC1_YOFF 0.048249244689941406 9
1 1 CAL_ACC1_YSCALE 1.002285957336425781 9
1 1 CAL_ACC1_ZOFF -0.102983474731445313 9
1 1 CAL_ACC1_ZSCALE 1.009378910064697266 9
1 1 CAL_ACC2_ID 3407882 6
1 1 CAL_ACC2_PRIO 50 6
1 1 CAL_ACC2_ROT -1 6
1 1 CAL_ACC2_XOFF 0.058791160583496094 9
1 1 CAL_ACC2_XSCALE 1.014018654823303223 9
1 1 CAL_ACC2_YOFF 0.004461288452148438 9
1 1 CAL_ACC2_YSCALE 1.002673268318176270 9
1 1 CAL_ACC2_ZOFF 0.021420955657958984 9
1 1 CAL_ACC2_ZSCALE 1.010192871093750000 9
1 1 CAL_ACC3_ID 0 6
1 1 CAL_AIR_CMODEL 0 6
1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9
1 1 CAL_AIR_TUBELEN 0.200000002980232239 9
1 1 CAL_BARO0_ID 12084257 6
1 1 CAL_BARO0_OFF -113.578125000000000000 9
1 1 CAL_BARO0_PRIO 50 6
1 1 CAL_BARO1_ID 6780433 6
1 1 CAL_BARO1_OFF 0.000000000000000000 9
1 1 CAL_BARO1_PRIO 75 6
1 1 CAL_GYRO0_ID 3407898 6
1 1 CAL_GYRO0_PRIO 50 6
1 1 CAL_GYRO0_ROT -1 6
1 1 CAL_GYRO0_XOFF -0.003953122999519110 9
1 1 CAL_GYRO0_YOFF 0.002611470874398947 9
1 1 CAL_GYRO0_ZOFF -0.001172718824818730 9
1 1 CAL_GYRO1_ID 3407890 6
1 1 CAL_GYRO1_PRIO 50 6
1 1 CAL_GYRO1_ROT -1 6
1 1 CAL_GYRO1_XOFF 0.004325849004089832 9
1 1 CAL_GYRO1_YOFF -0.000024308781576110 9
1 1 CAL_GYRO1_ZOFF 0.000570452073588967 9
1 1 CAL_GYRO2_ID 3407882 6
1 1 CAL_GYRO2_PRIO 50 6
1 1 CAL_GYRO2_ROT -1 6
1 1 CAL_GYRO2_XOFF 0.000262262765318155 9
1 1 CAL_GYRO2_YOFF 0.000905489432625473 9
1 1 CAL_GYRO2_ZOFF -0.000262017827481031 9
1 1 CAL_GYRO3_ID 0 6
1 1 CAL_MAG0_ID 396809 6
1 1 CAL_MAG0_PITCH 0.000000000000000000 9
1 1 CAL_MAG0_PRIO 75 6
1 1 CAL_MAG0_ROLL 0.000000000000000000 9
1 1 CAL_MAG0_ROT 0 6
1 1 CAL_MAG0_XCOMP 0.000000000000000000 9
1 1 CAL_MAG0_XODIAG -0.002119729993864894 9
1 1 CAL_MAG0_XOFF -0.036034233868122101 9
1 1 CAL_MAG0_XSCALE 1.008113145828247070 9
1 1 CAL_MAG0_YAW 0.000000000000000000 9
1 1 CAL_MAG0_YCOMP 0.000000000000000000 9
1 1 CAL_MAG0_YODIAG -0.004861935041844845 9
1 1 CAL_MAG0_YOFF -0.026192059740424156 9
1 1 CAL_MAG0_YSCALE 0.973490118980407715 9
1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9
1 1 CAL_MAG0_ZODIAG -0.129095211625099182 9
1 1 CAL_MAG0_ZOFF -0.099412366747856140 9
1 1 CAL_MAG0_ZSCALE 1.049177408218383789 9
1 1 CAL_MAG1_ID 4395041 6
1 1 CAL_MAG1_PITCH 0.000000000000000000 9
1 1 CAL_MAG1_PRIO 50 6
1 1 CAL_MAG1_ROLL 0.000000000000000000 9
1 1 CAL_MAG1_ROT -1 6
1 1 CAL_MAG1_XCOMP 0.000000000000000000 9
1 1 CAL_MAG1_XODIAG 0.000000000000000000 9
1 1 CAL_MAG1_XOFF -0.011187159456312656 9
1 1 CAL_MAG1_XSCALE 0.983231484889984131 9
1 1 CAL_MAG1_YAW 0.000000000000000000 9
1 1 CAL_MAG1_YCOMP 0.000000000000000000 9
1 1 CAL_MAG1_YODIAG 0.000000000000000000 9
1 1 CAL_MAG1_YOFF 0.074106380343437195 9
1 1 CAL_MAG1_YSCALE 0.999474465847015381 9
1 1 CAL_MAG1_ZCOMP 0.000000000000000000 9
1 1 CAL_MAG1_ZODIAG 0.000000000000000000 9
1 1 CAL_MAG1_ZOFF -0.010281218215823174 9
1 1 CAL_MAG1_ZSCALE 1.013643741607666016 9
1 1 CAL_MAG2_ID 0 6
1 1 CAL_MAG2_ROT -1 6
1 1 CAL_MAG3_ID 0 6
1 1 CAL_MAG3_ROT -1 6
1 1 CAL_MAG_COMP_TYP 0 6
1 1 CAL_MAG_SIDES 63 6
1 1 CAM_CAP_FBACK 0 6
1 1 CBRK_BUZZER 0 6
1 1 CBRK_FLIGHTTERM 121212 6
1 1 CBRK_IO_SAFETY 22027 6
1 1 CBRK_SUPPLY_CHK 0 6
1 1 CBRK_USB_CHK 197848 6
1 1 CBRK_VTOLARMING 0 6
1 1 COM_ACT_FAIL_ACT 0 6
1 1 COM_ARMABLE 1 6
1 1 COM_ARM_AUTH_ID 10 6
1 1 COM_ARM_AUTH_MET 0 6
1 1 COM_ARM_AUTH_REQ 0 6
1 1 COM_ARM_AUTH_TO 1.000000000000000000 9
1 1 COM_ARM_BAT_MIN -1.000000000000000000 9
1 1 COM_ARM_CHK_ESCS 0 6
1 1 COM_ARM_HFLT_CHK 1 6
1 1 COM_ARM_IMU_ACC 0.699999988079071045 9
1 1 COM_ARM_IMU_GYR 0.250000000000000000 9
1 1 COM_ARM_MAG_ANG 60 6
1 1 COM_ARM_MAG_STR 2 6
1 1 COM_ARM_MIS_REQ 0 6
1 1 COM_ARM_ODID 1 6
1 1 COM_ARM_SDCARD 1 6
1 1 COM_ARM_SWISBTN 0 6
1 1 COM_ARM_WO_GPS 1 6
1 1 COM_CPU_MAX 95.000000000000000000 9
1 1 COM_DISARM_LAND 2.000000000000000000 9
1 1 COM_DISARM_MAN 1 6
1 1 COM_DISARM_PRFLT 10.000000000000000000 9
1 1 COM_DLL_EXCEPT 0 6
1 1 COM_DL_LOSS_T 10 6
1 1 COM_FAIL_ACT_T 5.000000000000000000 9
1 1 COM_FLIGHT_UUID 1 6
1 1 COM_FLTMODE1 -1 6
1 1 COM_FLTMODE2 -1 6
1 1 COM_FLTMODE3 -1 6
1 1 COM_FLTMODE4 -1 6
1 1 COM_FLTMODE5 -1 6
1 1 COM_FLTMODE6 -1 6
1 1 COM_FLTT_LOW_ACT 3 6
1 1 COM_FLT_PROFILE 0 6
1 1 COM_FLT_TIME_MAX -1 6
1 1 COM_FORCE_SAFETY 0 6
1 1 COM_HLDL_LOSS_T 120 6
1 1 COM_HLDL_REG_T 0 6
1 1 COM_HOME_EN 1 6
1 1 COM_HOME_IN_AIR 0 6
1 1 COM_IMB_PROP_ACT 0 6
1 1 COM_KILL_DISARM 5.000000000000000000 9
1 1 COM_LKDOWN_TKO 3.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_MODE_ARM_CHK 0 6
1 1 COM_MOT_TEST_EN 1 6
1 1 COM_OBC_LOSS_T 5.000000000000000000 9
1 1 COM_OBL_RC_ACT 0 6
1 1 COM_OF_LOSS_T 1.000000000000000000 9
1 1 COM_PARACHUTE 0 6
1 1 COM_POSCTL_NAVL 0 6
1 1 COM_POS_FS_EPH 5.000000000000000000 9
1 1 COM_POS_LOW_ACT 3 6
1 1 COM_POS_LOW_EPH -1.000000000000000000 9
1 1 COM_POWER_COUNT 1 6
1 1 COM_PREARM_MODE 0 6
1 1 COM_QC_ACT 0 6
1 1 COM_RAM_MAX 95.000000000000000000 9
1 1 COM_RCL_EXCEPT 0 6
1 1 COM_RC_ARM_HYST 1000 6
1 1 COM_RC_IN_MODE 3 6
1 1 COM_RC_LOSS_T 0.500000000000000000 9
1 1 COM_RC_OVERRIDE 1 6
1 1 COM_RC_STICK_OV 30.000000000000000000 9
1 1 COM_SPOOLUP_TIME 1.000000000000000000 9
1 1 COM_TAKEOFF_ACT 0 6
1 1 COM_THROW_EN 0 6
1 1 COM_THROW_SPEED 5.000000000000000000 9
1 1 COM_VEL_FS_EVH 1.000000000000000000 9
1 1 COM_WIND_MAX -1.000000000000000000 9
1 1 COM_WIND_MAX_ACT 0 6
1 1 COM_WIND_WARN -1.000000000000000000 9
1 1 DSHOT_3D_DEAD_H 1000 6
1 1 DSHOT_3D_DEAD_L 1000 6
1 1 DSHOT_3D_ENABLE 0 6
1 1 DSHOT_BIDIR_EN 0 6
1 1 DSHOT_MIN 0.054999999701976776 9
1 1 DSHOT_TEL_CFG 0 6
1 1 EKF2_ABIAS_INIT 0.200000002980232239 9
1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9
1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9
1 1 EKF2_ABL_LIM 0.400000005960464478 9
1 1 EKF2_ABL_TAU 0.500000000000000000 9
1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9
1 1 EKF2_ACC_NOISE 0.349999994039535522 9
1 1 EKF2_AGP_CTRL 0 6
1 1 EKF2_AGP_DELAY 0.000000000000000000 9
1 1 EKF2_AGP_GATE 3.000000000000000000 9
1 1 EKF2_AGP_NOISE 0.899999976158142090 9
1 1 EKF2_ANGERR_INIT 0.100000001490116119 9
1 1 EKF2_ARSP_THR 0.000000000000000000 9
1 1 EKF2_ASPD_MAX 20.000000000000000000 9
1 1 EKF2_ASP_DELAY 100.000000000000000000 9
1 1 EKF2_AVEL_DELAY 5.000000000000000000 9
1 1 EKF2_BARO_CTRL 1 6
1 1 EKF2_BARO_DELAY 0.000000000000000000 9
1 1 EKF2_BARO_GATE 5.000000000000000000 9
1 1 EKF2_BARO_NOISE 3.500000000000000000 9
1 1 EKF2_BCOEF_X 100.000000000000000000 9
1 1 EKF2_BCOEF_Y 100.000000000000000000 9
1 1 EKF2_BETA_GATE 5.000000000000000000 9
1 1 EKF2_BETA_NOISE 0.300000011920928955 9
1 1 EKF2_DECL_TYPE 3 6
1 1 EKF2_DELAY_MAX 200.000000000000000000 9
1 1 EKF2_DRAG_CTRL 0 6
1 1 EKF2_DRAG_NOISE 2.500000000000000000 9
1 1 EKF2_EAS_NOISE 1.399999976158142090 9
1 1 EKF2_EN 1 6
1 1 EKF2_EVA_NOISE 0.100000001490116119 9
1 1 EKF2_EVP_GATE 5.000000000000000000 9
1 1 EKF2_EVP_NOISE 0.100000001490116119 9
1 1 EKF2_EVV_GATE 3.000000000000000000 9
1 1 EKF2_EVV_NOISE 0.100000001490116119 9
1 1 EKF2_EV_CTRL 0 6
1 1 EKF2_EV_DELAY 0.000000000000000000 9
1 1 EKF2_EV_NOISE_MD 0 6
1 1 EKF2_EV_POS_X 0.000000000000000000 9
1 1 EKF2_EV_POS_Y 0.000000000000000000 9
1 1 EKF2_EV_POS_Z 0.000000000000000000 9
1 1 EKF2_EV_QMIN 0 6
1 1 EKF2_FUSE_BETA 0 6
1 1 EKF2_GBIAS_INIT 0.100000001490116119 9
1 1 EKF2_GND_EFF_DZ 4.000000000000000000 9
1 1 EKF2_GND_MAX_HGT 0.500000000000000000 9
1 1 EKF2_GPS_CHECK 1023 6
1 1 EKF2_GPS_CTRL 7 6
1 1 EKF2_GPS_DELAY 110.000000000000000000 9
1 1 EKF2_GPS_POS_X 0.000000000000000000 9
1 1 EKF2_GPS_POS_Y 0.000000000000000000 9
1 1 EKF2_GPS_POS_Z 0.000000000000000000 9
1 1 EKF2_GPS_P_GATE 5.000000000000000000 9
1 1 EKF2_GPS_P_NOISE 0.500000000000000000 9
1 1 EKF2_GPS_V_GATE 5.000000000000000000 9
1 1 EKF2_GPS_V_NOISE 0.300000011920928955 9
1 1 EKF2_GPS_YAW_OFF 0.000000000000000000 9
1 1 EKF2_GRAV_NOISE 1.000000000000000000 9
1 1 EKF2_GSF_TAS 15.000000000000000000 9
1 1 EKF2_GYR_B_LIM 0.150000005960464478 9
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1 1 EKF2_GYR_NOISE 0.014999999664723873 9
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1 1 EKF2_HEAD_NOISE 0.300000011920928955 9
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1 1 EKF2_IMU_POS_Y 0.000000000000000000 9
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1 1 EKF2_LOG_VERBOSE 1 6
1 1 EKF2_MAG_ACCLIM 0.500000000000000000 9
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1 1 EKF2_MAG_E_NOISE 0.001000000047497451 9
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1 1 EKF2_MAG_NOISE 0.050000000745058060 9
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You will have to look at the code and parameters of how this works or what it does. I don’t know myself.
Okay, thanks. I will update after research
Hello,
Seems like pps_capture working in background but doesn’t appear in timestamp or in pps_capture status. When I disconnect PPS cable, QGroundControl throw error message. This message is directly from mavlink protocol. Any idea?
Comes from here:
Hello,
I added more info into driver and there is no connection between pps_capture and gps timestamp_sample. I don’t see any real time correction in PX4, so maybe it is good idea to add tihs feature?
pps_capture debug
INFO [pps_capture] ==== PPSCapture Debug State ====
INFO [pps_capture] Channel: 3
INFO [pps_capture] GPIO Pin: 65914
INFO [pps_capture] Last GPS UTC: 1748950191899817
INFO [pps_capture] Last GPS timestamp: 1606987421
INFO [pps_capture] Latest HRT timestamp: 1607037821
INFO [pps_capture] PPS Rate Exceeded Counter: 0
INFO [pps_capture] Time GPS + PPS UTC: 1748950191950217
INFO [pps_capture] PPS Rate Failure: false
Of course, I can share my code for better understanding