Ardupilot error compass variance. NINA (Nina) March 17, 2021, 1:52pm .
Ardupilot error compass variance. Don’t be scary, please.
Ardupilot error compass variance 3rc5. Compass calibration succeeded with COMPASS_ORIENT set to 0 (None). I’ve linked my gazebo sim with the Ardupilot SITL, but it seems to have a compass issue. The tune for skid steer is very hard. 0 and the drone went uncontrollable. Why are you using 4. Hi, I am trying to congifure a compass to my drone. It then turned around and came back to the way point where it began to circle again. BTW, I don’t have current meter, so use throttle instead COMPASS_MOTCT =1. Orientation¶. I have read this documentation[1] but I think is outdated, because now EKF is force in ArduCopter and the parameter AHRS_EKF_USE is deprecated. I did damper on the autopilot and compass to ease off vibration coming from the frame. Wait. Dual 16AH batteries in parallel. I have built this exact same quad quite a few times it’s not interference. 2beta Here 3 GPS T-Motor MN5008 T-Motor Air 40a Tarot 650 frame I had manually It also will run a calibration routine to correct the Ardupilot compass parameter values to improve the compass performance. So I’m trying to make a drone use the precision landing feature to land on a target by using a camera and sending vehicle. bin log and performs a "MAGFit inflight calibration". landing_target_encode() MAVLINK messages using the dronekit API based on where the target is in the camera frame. Hello all, I have assembled a gasser 700 size and made setup based on new Wiki and I flew fine but I saw EKF errors popping up . It pitched Mowing the GPS/Compass 15 cm (6 inches) from the nearest magnet seems to have solve the issue - so far. It’s determined automatically during Compass Calibration now. we had a gps velocity variance corrupted data after adding camera and onboard computer jetson to the setup and it resulted in crash. At the beginning it happens almost every time I flew, then after several compass calibrations and using only external compass the problem seems solved and arises rarely until last time. It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” which allows converting the location’s magnetic North to true North without recalibrating . 32 and firmware ArduCopter V3. compass calibration done onsite; But any help in the meantime is greatly appreciated. I will start with the wiring diagram. Reload to refresh your session. EKF position Hi all First flight with Zeta FX-79. This can be disabled, or only I think that having the possibilty to do Compass Motor calibration on Plane can be very useful. Yesterday I started receiving the following message on a flight “EKF2 IMU1 switching to compass 1” and then more switching. This could be cleaned up with a MagFit calibration once you’re flying again. With an application developed with python-dronekit I instructed the drone to take off (reaching a height of 3 m) and l Hi community, I am working on a robotic boat project and I would like to ask a few questions during my deployment. The controller was positioned heading forward as the GPS too. I’m facing two problems. I tuned the PIDs so far and I think it flies very good in Stabilize. Re-prioritze them in the Compass Calibration Screen of Mission Planner and re-start the board. Could this be because the GPS is very close to the battery, hence is giving it high interference? Any other possible issues? Thanks in I am having two key issues with my rover. General. Also Param file is attached too. 4 (e62e40a5) firmware. Looking at the screen shot I’m guessing you have an internal and external compass. 53, 106. Juan_Manuel_Gonzalez (Juan Manuel González I have not gone into that detail yet mate. 6 Octa FW. 1 and did all the IMU and Compass calibration. 50. The text was updated successfully, but these errors were encountered: All reactions. These errors are occasionally accompanied with “Bad or no Terrain Data” and “Bad Compass I would check the GPS at first glance. Are there one or two compasses onboard? If I plug in the Here GPS (which has a compass within it) - does this become Compass 1? There’s a bit of crossover with the mission planner forum Hi guys, I hope you are doing well. You see vertical pos variance errors and compass variance errors that are not resolved until the pixhawk is rebooted. The basic functions are okay, including FrSky telemetry, lidar, GPS and compass, but I’m having trouble to add an optical flow and XBee telemetry. Holybro Pixhawk4, with M8N GPS/Compass combo. If I point the vehicle towards south (180°) heading shows 266°. The offset would get greater I have the problem that the motors disarm when I remotely arm the drone via mavproxy with my raspberry the status of the flight controller is this: status STABILIZE> Counters: MasterIn:[26326] MasterOut:304 FGearIn:0 FGearOut:0 Slave:0 MAV Errors: 0 None 1221: AHRS {omegaIx : 0. In MP everthing is seems allright but when i turned the motors on and start to move quadrotor first vibe turns to red and ekf turns to yellow and then ekf turns into red and I faced Bad AHRS, pos vert&horz variance I found the solution. Sometimes appears the failsafe "EKF variance", but the drone is on the floor without moving. This screen is used for setting compass ordering, priority, calibration, and use. Offsets (OFS), diagonals(DIA), ellipticals(ODI), motor current compensation, and scale parameters can be corrected. So in general I think the COMPASS_USE2 = 0, COMPASS_USE3 = 0 should be enough to disable the internal compasses at least on systems that have no more than 3 compasses. 1 no problems. e. org/t/plane-crashed-vertically To avoid a crash, I moved the drone to a nearby grassy field and attempted another takeoff, but it continued to drift. We did 2 flights: The first one was without before we did compass We have been using 3. Putting it on a stalk to raise it up a bit might prove helpful. The external compass or the compass 1 calibrates flawlessl You signed in with another tab or window. ohitstarik (Ohitstarik) July 7, 2020, 8:17am 1. But A compass inconsistent occurs when the head is turned in a specific direction. This two issues is driving me nut. According to this I'm testing the ArduCopter master branch of diydrones/ardupilot. I get the following errors totally randomly: Ground mag anomaly; Compass inconsistent; EKF variance; Mag bad radius; Im starting to think that the external compass unit is faulty, maybe do you have any idea? Here is a link with the logs Orientation¶. The best way method is to use an external compass or GPS+Compass module mounted on a mast up and away from magnetic source of interference including the power distribution board (PDB). We are facing some problems with the compass. The copter then gets uncontrollable on the yaw axis, meaning he starts turning either left or right totally random. I will try again at the end of the day and return with status. 00, -10. Also without log file it’s hard to find a conclusion. 1 compasses, so the Mission planner is saying “Error The compass is suffering from interference. I know you guys tried your best to help. No matter how many times, ways, and locations we attempt to calibrate the compass on the orange, we get a poor calibration. 0. What could be the issue? Where should I look to debug this? A log file is attached Thanks Nitay After a couple of successful manual flights I decided to try a simple auto mission with my quadplane. I’m using an mRobotics micro GPS: mRobotics. You signed out in another tab or window. Logs tell us that the velocity variance of the gps reading was abnormally high than the regular flights. This thread suggests using an older firmware or having better setup (reduce compass interference, more stable GPS). It’s a BeagleBoneBlue running the latest version of Copter (I don’t remember what that is, but I only compiled it a week ago). please advise how to solve it. I’ve heard that the closer this number is to zero, the better. The FC in use is Cuav x7 and the RTK is CUAV C-rtk 9ps. After setting COMPASS_AUTO_ROT=0 and COMPASS_ORIENT=2 (Yaw90) and new calibration heading shows 174°. 6. Used to have a Navio2 and had those odd GPS glitch issues. I am new to ardupilot and am having issues with my boat. Flight was all Stabilize as you can see in the logs. Essentially reverse what you have now. Relocate vehicle away from metal in the environment. I Im running AC 4. NINA (Nina) March 17, 2021, 1:52pm . Thank you for taking a look at this! I am curious to see what you find! 2017-03-16 10-37-57. when’s arduplane moving to celestial navigation. ESC : T-Motor F55A Pro II T Hello I have an issue with frequently occuring compass variance. Please help if anybody knows how to proceed with it Hi guys, some seconds into flight, I’m getting a “EKF or Inertial Nav failure”, which is visible by the red/yellow blinking LED on my Pixhawk. The AHRS_ORIENTATION must be set correctly for the compass calibration to be successful. One of the Compass offsets is 200 the other two are below 40. Rants&Raves. 5”, lower values will cause the compass to be trusted more (i. 93 Hi, Today I took a flight on my Hexarotor with AC4. But when I do full punch out on the throttle I get a GPS glitch and EKF var And update to ArduCopter 4. But now I get “Error:Compass Variance” and the compass deviates 90 degrees from the drone heading after I change the batteries, so I tried both the latest emlid package of 3. My large Hexacopter likes to keep me guessing. And when I tried to build the older firmware, I found that the older firmware does not support Kakute F7. During some recent flights with my Skywalker 1830 fixed wing, I got “Error Compass Variance” and in Hello Guys! I’m setting up my plane and I keep getting the message that there is a high compass variance, as the EFK seem to be very high. When I try to calibrate the compass - the status bar doesn’t move (tried ArduCopter V4. It's actually not the correct way, but it's the only way I have peace on my screen. I am flying and tuning a new H frame quadcopter - big one with 32 props. I compiled the APM:Copter 3. Note: Don’t make the changes in the Parameter list! I have been facing some compass interference issues from my battery (Li-ion). We also tried switching to EKF2 following some advice from a friend who used EKF2 to solve an issue in A bit late entry Erkam, but we also came across a same kind of issue. Is there a source documenting all messages that the user may eventually see on the HUD? I tried looking at MAVlink documentation, but could only find information regarding the container for said yes , I have GPS and the compass is attached within the Pixhawk , and calibrated I just now got the Pixkawk and compass out of the case, bound them tightly in a support, and re-did the calibration. 4rc1 and a build from git hub ardupilot master. I’ll just have to persist looking how to fix it. Compass Variance: In the EKF solution, compass heading disagrees with the heading estimate from other inertial sensors. In I keep seeing the telemetry disconnected when I take off after setting the drone default using GCS, so please tell me how to solve it. First issue is that when y try to calibrate compass, after doing a proper accel calibration, I get very high values in the second compass field, up to 900. I also switch off using compass. I have several problems with EKF. 2 when really fast. 60, -157. Use an external compass. 3, and my compass seems all out of whack. You want to prioritize the Here3 compass. I tried every possible way to reduce the interference, so I finally thought to do compass motor calibration. I have problems with Pixhawk 2. 4 code from the master branch and everything looked ok, I We are making a Octo Quad X8 copter with axis length 1600 mm. I have two machines that have the same problem. In it’s box, the GPS board is not under pressure and I think it’s fine. 89%) GPS Compass glitch EKF Lane Switch fly away help Copter 4. Mission planner say "compass variance" and I see the "toilet bowling" so I think that maybe compass motor can help. After completing the accel calibration successfully i am encountering problem with compass calibration. 00, Z:-283. 4-rc1. The problem is about compass. 4-dev (c102da5) GCS: APM Planner v2. ardupilot. The drone did yawing without my input in the yaw channel. 002037430414929986, omegaIz : After EKF variance errors, there’s almost always an increase in velocity. 0007890295819379389, omegaIy : -0. The Compass_ofs of this is so great big. I had the Here3 extended with an i2c jumper, then decided to solder and shield entire cable. Closed mshajeehm opened this issue Mar 5 No description provided. Also it is impossible to succesfully calibrate the external compass, which is mounted away from everything. This can be disabled, or only Did nearly crash the copter today, when using 18650 the first time. I’m using ublox neo-M8N GPS module. 1 from 4. failsafe (failsafe) September 14, 2022, 7:25am 1. 3, and I cant find any other thread that deals with them. Hello, My quad design is very compact, such that the Here GPS is placed 2-3cms above the li ion battery and so is Pixhawk. Barometer values are unstable or high vibration. I haven’t changed anything on the plane, this just started happening all of the sudden. 12, 0. I finished the tuning, but when I try to arm the quad, I get two errors: 1: EKF attitude bad 2: compass not healthy. Update - Tried flying with the magfit values provides, still saw relatively high variances, but this time mostly in the Velocity bar. Then look at the internal and external mags and see which one is Orientation¶. Measure vibration and add vibration isolation. I have been recently facing problems in calibrating my compass. [FIXED, see edit below] Hi all, PROBLEM I have had no compass problems with my rover until recently. . Usually YAW value can aligned with gps yaw sensor quickly while power on, but sometimes NOT, it may become slow, or yaw value HI, We have installed a new Airspeed with built-in compass, we are using Pixhawk and Arduplane. 5) and Taranis Plus radio and X8R receiver (SBUS to RCIN). Gps 1 is Neo V2 pro CAN GPS GPS 2 is Neo V2 serial gps. I also checked while it was open. I have a BN-880 mounted with gps antenna up and cables towards tail. 1, I don’t know exactly what I’m looking at and 2, the Mono font scaling on Linux is horrible. Sometimes appears the failsafe "EKF variance", but the drone is on the Have you done a Compass/Motor calibration? Is your compass mounted well away from power wires etc? The . ArduPilot / ardupilot Public. The unit shimmys back and forth when stantionary in ACRO mode with a tap of the stick. Move compass away from metal in the frame. Using WebTools MagFit¶ load flight log Hello, I have just finished rebuilding after a pretty good crash. Hello everyone! I flew my quadcopter autonomously. T2 temperature message reused to transmit the number of GPS satellites and GPS status); and. 4 Hi I made a pretty heavy quadcopter this time. For some reason the internal compass is still used -> heading will only change when rotating the Has anyone experienced significant issues with the compass on the Cube Orange? We have been unable to calibrate the orange cubes and are wondering if we received a bad batch, or if there is a solution to this problem. I d Hello, I am using your products on multiple drone setups and i am experiencing a major problem. I had searched but I didn't find the compass motor option for That is the cause of the problem. However, during calibration many times I got ‘Bad AHRS’ and ‘Compass inconsistent’. The most likely issue is that the model is not set up correctly and is not staying still long enough to @tridge If you have a spare cycle, I would very much appreciate if you could look at my logs and suggest something. When doing manual tune in AltHold, I figured out some strange behaviours. I am just tr I am using SITL with a new aircraft model I defined with xml files used in Jsbsim. 2 and Mission Planner 1. Clicking the EKF button on the Mission The craft is not connected to its battery supply (6S), just the USB supply. The Quadcopter: 17in Props Cube Orange Copter 4. I am us’ng copter 3. 80) offdiag: Vector3(0. 4rc1 from emlid (compass 1 and 2 enabled. Sign up for free to EKF compass variance. 11669. Also it is very unlikely, that there is high current around the areas i was testing. Hi guys. This cube on the left According to the information that was found, it has three identical IMUs and they say that it is better than the previous one. Plane has pixhawk, GPS + compass, airspeed sensor, telemetry 915 mhz. This post has an almost identical question: SITL : my rover doing toilet bowl. If i have internal compasses active, copter constantly switches compasses Hi, Got a custom built Y6 Copter running 4. ArduPilot supports the use of GPS heading information to reduce malfunctions caused by changes in the magnetic field in certain environments. Always the same: ERROR COMPASS VARIANCE. 20, 0. First is all servos are showing erratic behavior, in FBWA mode elevator servos move very little, when I did test on I built a Octo-Quad copter with 18 inch props and set the rig up properly. Station. That means they can have different levels of acceptance. This interference can cause the variance errors. 3 in our copters for a while now and we see a lot of issues with compass variance. bin file you requested. 00) cmot_mode: 1 cmot: Vector3(10. 3 Reviewing the log, it can be seen that there are big spikes especially with MAG[0] in x-axis and z-axis. Is this the right knowledge? In addition, in the case of QGC, when calibration is finished, it is graphed like this. 7 both QGroundControl and MissionPlanner). Arduplane 3. You may want to disable the internal compass also but determine that based on errors. But in my setup I only use Pozyx. Right after flying it for a few seconds a few cms above ground, I get some errors: Compass variance and something about mag that I can’t find where I’ve noted it. The System with an external and internal compass must be selecting in my case the internal compass even tho its not primary. In addition the location’s “inclination” is calibrated at startup and then again soon after takeoff I’m having a rough time getting rid of “Compass Variance” warnings during flight. 20, 1. But after 30 seconds flight, start de failsafe and RTL. This can be a temporary thing - for example if you plug in the vehicle while it’s on a car roof, the moment you move the vehicle away from the car the EKF Hi everyone I am developing a 100kg AUW drone. Whenever I am in manual mode or auto the rover does not want to I have Cube Orange with Plane 4. The calibration goes well but during simple takeoff Here is the . (Had lots of GPS gliches)) We have realised we have some issues with the compass’es. 1, I have got some issues. From previous evaluation I think it’s not really caused by GPS, but more with the I am attempting to document potential errors (i. Had a Misconfigured GPS at first that i think i now have solved. 00) Large change in mag_field (72. bin file from the PH is more useful than the tlog. It just wasn’t happening. Switch off EKF and, for the latest arduplane, switch of EKF #2 as well. There was a problem during production. I’ve done all the compass calibration. Normally compass varience means the internal compass and the external compass don’t agree. 4 on CubeOrange, and with Here3. should be reported on Hello, I have build a 7 inch LongRange quadcopter using : Armattan Chameleon TI LR carbon frame Matek H743 SLIM running Arducopter 4. So if I understand correctly, the PX2 has an onboard compass - at least one. We connect thru mission planner and elf I get ERROR COMPASS VARIANCE when I turn the plane and the heading is off by something between 90 and 180 degrees. I am pretty desperate with this issue. “Bad OptFlow Health” when I activate optical flow Default is “0. I could not get passed this; though, because I could never get my plane to orient The EKF failsafe monitors the health of EKF (the position and attitude estimation system) to catch problems with the vehicle’s position estimate (often caused by GPS glitches or compass errors) and prevent “flyaways”. Finally, after many calibrations it stopped. Hard to say without knowing what kind of hardware you’re using. The lowest It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” which allows converting the location’s magnetic North to true North without recalibrating . New: Vector3(-9. Should point out that for some reason the there’s no IMU data for 38 not sure why – it’s there for 37 and 51. Check if you have correct board orientations (AHRS_ORIENTATION and COMPASS_ORIENT (2): It’s hard to see in the picture, but it’s possible that the GPS/compass module placement is too close to the battery, power wiring, or motors. Set compass use to true. is the internal compass. accelerometers and gyroscopes). In addition the location’s “inclination” is calibrated at startup and then again soon after takeoff Yes, you’re right. mshajeehm closed this as completed Mar 14, 2018. g. I’m using S1000 frame and PH1, with V3. 3 gps , arducopter , ekf , log-analysis , glitch As the title says, my hardware is throwing errors immediately on boot, and they don’t go away. I have issues only during high throttle input while using quad motors. My priority at the moment is to fix the logging issue and to get rid of the workaround to arm the motors. I tried to disable the internal compass, by setting COMPASS_USE=0 and Hello, I have a recurring issue I’m looking to solve; After a flight, right after the landing, I’m getting “PreArm: EKF compass variance” and the pixhawk won’t arm again - Meaning I need to take out the battery between flights. I’m getting intermittent “compass variance” and “bad compass health” messages, and while the plane seems to track pretty well along the mission plan, the heading indicated is definitely way out of whack. “ERROR COMPASS VARIANCE”) that may be displayed on the Mission Planner (1. Calibration parameters are found that fit the measured magnetic field from the log to the expected field from the World Magnetic Model. on god. Had a strange crash today with a very well flown plane, she’s had at least 200 hours flight time since 2015 with no problems and now suddenly it crashes. The heli has current monitoring so this calibration will take Hi! I have severals problems with my compass calibration: I’m using an Erle-Brain 2 (hexa frame) APM version: APM:Copter V3. And then move up to recalibration of accelerometer and compass. You switched accounts on another tab or window. The compass calibrates fine and everything works well - until I power up the motor. and switched to land mode, ultimately crashing. MAG[1] does not show any spikes Is MAG[0] the internal or external compass? I am a bit confused about which MAG[xx] or MAGx. I'm testing the ArduCopter master branch of diydrones/ardupilot. I am not sure if there is any difference but here is what I notice 3. I wanted to go back and test with two compass like the last good flight and see if its stable. (But I have realised I probobly is best of by solve config issues myself. The reason for the invariance is still not clear and the same setup without any modification has worked for so I was, and still need to tune my steering, but in the process I noticed my rover in Mission Planner was not pointed in the actual, correct direction of travel. Changing into POSITION HOLD mode. However when I switch to auto mode I get compass and accelerator errors all over the place and the airplane behaves chaotically - it can not follow the Hi family, I was trying to flight my little drone with Zubax GNSS, I used Mission Planner 1. Everything is fine. I tried both the onboard and live calibrations with ArduPilot MAGFit in flight compass calibration: This tool takes a . Disabling Orientation¶. zip (3. Shafwan_Nordin (Shafwan Nordin) September 20, 2017, 6:41am . the compass column fills up/ goes red. 3 **GPS/Compass - UBLOX M8N + HMC5883 module** FC: Omnibus F4 V2 pro Motors - A2212 1000KV ECS - Simonk 30A Hi all, i just bought a pixfalcon and entered the pixhawk world. Was flying around in Training mode teaching a student and started getting errors: velocity variance, compass variance and pos horiz variance. Hi, I have seen a lot of errors in my mission planner before and during my flight test. The horizontal and vertical position variance errors are thrown when the EKF and GPS or other sensors do not agree. No, that’s what you have now. Rolled back to 3. I have compared logs and Hello gentlemen, I just upgrade my quadplane to Arduplane FW 4. 0-beta5 with bidir dshot firmware (with DPS310 barometer) Matek M9N-f4-3100 as UAVCAN runing latest AP_PERIPH firmware, connected with CAN bus (with secondary DPS310 barometer) . Some days it flies great, no EKF warnings, and some days it still flies great but EKF fluctuates during flight. After reaching a certain waypoint close to landing, @rmackay9 you were right, after I set * EK3_SRC1_VELXY to 3, the problem was gone . In our particular case we sit a standalone pixhawk in a table and connect with usb. I I just bought a Pixhawk kit from mRobotics, my 2nd one from them. I have the Pixhawk and GPS/compass unit taped to a piece of cardboard to maintain their orientations for bench testing. My bad im using 4. When I say to my rover to go to a waypoint, it goes around the waypoint as a toilet bowl, and ArduPilot says “err Trying to get this unit to track with the RTK unit. No compass and no GPS. 8 version of arduplane. Turns out many others reported the same thing. The compass_variance maxes at ~0. The setting of the orientation of jacques_eloff (jacques_eloff) November 10, 2017, 7:44am . 3 sorry im new to this forum. 0 when still. I have the sabertooth set to independent mode (off,on,off,off,on,on) and SKID_STEER_OUT = 1. The build is a wild thumper 6WD frame, with a sabertooth dual motor controller, pixhawk (v2. Arducopter 4. I am now in Copter V3. 25. So, In flight start a message ERROR COMPASS VARIANCE, who disappeared. What is the reason for the Hello everyone, we are having a weird problem with a Bormatec Ninox plane, who crashed violently in AUTO mode (http://discuss. repeat compass calibration. But I discovered the problem I am getting EKF Variance warnings (Yellow/Red led, no buzzer) whenever I arm using 3. This firmware is just too much to chew. I’m using Hello All ,I am in Process of converting, a Xuav-Talon to a VTOL setup, , I did some flights today and have an transition flight as well, everything looks good , i feel system is on heavy side, using with Lipo 6s 16000m On one of my VTOL aircraft, I have dual Here2 GPS units connected through UAVcan and a pixhawk 2. If you could point me in the right direction to learn this power I Hello all, I’m having an issue with my setup. Extra info. This can be disabled, or only Thanks for your reply. The compass calibration completes without a problem, but then we fly and the variance warning appears again during the entire flight. EKF height variance. I’ve tried analyzing the logfiles and it’s really difficult. 1 with Here GPS on Yangda YD41000S. As soon as changing to AUTOTUNE mode compass var This makes me think the External compass is not working. 4. The aircraft is perfectly controllable in manual mode in FlighGear with an external transmitter control through the Mission Planner. I was prepared to do the autotune. The errors are “EKF3 IMU0 forced reset” immediately after I get the “EKF3 IMU0 initialized” message, and “Bad Baro Health” on the main screen. 9. 24 and Mission Planner 1. Although you do need a basic compass calibration to get in the air to record the reference log. I’m debating about the best parameter for EK3_SRC1_YAW, any advice? and while I am at it another question if I may after reaching a waypoint the rover positions himself for advancing to the next waypoint, he stops, turn, and then proceed like here: I am using Pixhawk 1 with Arduplane 3. Don’t be scary, please. Can anyone confirm exactly what ERR>EKF_CHECK-2 is telling me. message_factory. problem discription: It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” which allows converting the location’s magnetic North to true North without recalibrating . This is commonly caused by the external compass not pointing in the right direction, as long as the Pihawk is properly pointing forward. After rotation the drone 360 at all the positions when i try to reboot it says connect failed and automatically disconnects the mission planner. When I click on the EKF, the Compass bar is red and topped out. We are quite sure there some be something in the code that is triggering these errors as it happens with a bare pixhawk on the table. I was also very active on their forum but eventually closed my account as it became clear Emlid won’t do anything about it as they clearly focus on the GPS receivers for survey work. It took off fine, and heading to waypoint one where it began to circle a few times and then headed off a random direction. Took off in STABILISE mode. It can detect incorrect orientation, also. Before the machine was turning around in loiter like mad. Normally this will be set to the first compass ("Compass1"). The most common time when this error is thrown is when I have external gps+compass, if i use compass mot this fix my problem? Hi @sarah_gress, please don’t post the same question multiple times. 56 build 1- I can’t Hi! I have quite a few copters all with the Pixhawk 2. 9, dual Here3 GPS, TF Mini Plus Lidar and Matek I2C Pitot tube. I have ERROR COMPASS VARIANCE when moving fast or turning fast. 49) Flight Data window. I can’t figure out if it is accell or gyro variance as both seem ok but the warning is always there. It is the basic calibration that is still an issue - the old method fails and I have too much compass variance to allow arming the vehicle. Got plane in manual again, and it seems that the radio was losing the link with the The manual calibration is done by the GCS while the onboard calibration is done by ArduPilot. My drone is a quadcopter with a the Pixhawk 1; arducopter 3. 1 and compasses. The drone flew perfectly using FW 4. Passthrough telemetry (SmartPort), which leverages the new passthrough FrSky data IDs to send an extensive amount of autopilot I’m using a Pixracer autopilot from mrobotics and also the mrobotics uGPS/compass unit. Started with arducopter some months ago, but keep having problems with GPS glitches. The old compass dance and spinning motors with props on the ground is outdated. io. 1 with ArduPlane V3. The CUBE is not ordinary, even the color is different from the usual ORANGE. neither set to external) Hello, i used GPS yaw sensor with arducopter, and had issue on ek3 yaw initialization. 8. ArduCopter. Passthrough telemetry (SmartPort), which leverages the new passthrough FrSky data IDs to send an extensive amount of autopilot Repurposed FrSky telemetry (D and SmartPort), which reuses FrSky data IDs to transmit basic flight control information to the RC transmitter (e. Hi everybody, Since I moved from APM to PIXHAWK, I’ve never had a good flight with COPTER. QGC is more oriented PX4 firmware, but can manage both firmwares, and Mission Planner is dedicated only to Ardupilot (Arducopter, Arduplane,) firmware. The setting of the orientation of external compasses is no longer required. Hi to all! I need your opinion on this crash. Below the full output: 28/02/2021 21:10:13 : PreArm: Compass not healthy Hello all, I have assembled a gasser 700 size and made setup based on new Wiki and I flew fine but I saw EKF errors popping up . 01, -0. I am using an external 3DR compass with the internal compass on the Pixhawk. I’ve never heard these prior to upgrading to 3. 2. And finally I have found that when retrieving logs, the EKF seems to go into an unrecoverable state when using EKF3. After trying two different PH1 and I have used two bin log, but the results seem quite different. Primary Hi, The internal compass of the Pixhawk always gives a yaw offset of +/- 10 degrees. In addition the location’s “inclination” is calibrated at startup and then again soon after takeoff I have a 3-part question with a Quadcopter I have flown for a bit trying to debug a few issues but eventually resulted in a crash (the crash itself does not seem related to these issues but it would be nice to double check). For best results use a flight log that covers as many orientations as possible I am using a Orange cube and Here3. Currently on the boat is experiencing several issues related to the external compass and GPS system that cause toiletbowling and random compass snapping. Hi guys, I wonder if I could have a bit of clarification regarding the Pixhawk 2. There is velocity variance that is arising once in a while and the overall velocity variance is higher than any other variance. 46 build 1. gps, arducopter, compass, battery. 00, 10. if i have to hear compasses inconsistent, compass variance error, unhealthy ahrs one more time imma lose it. On the second circle it banked much too far and stalled. For your information, I am using a boat frame (Pixhawk 4) with two motors (differential drive) and I have a companion computer too based on ROS (MAVROS). Mainly with compass calibration and EKF compass so also Loiter performance but also more rarely other errors like GPS horrizontal errors. Copter 3. manavgandhi17 (Manav Gandhi Repurposed FrSky telemetry (D and SmartPort), which reuses FrSky data IDs to transmit basic flight control information to the RC transmitter (e. With onboard calibration I have been able to avoid EKF compass variance errors most of the Hi, everyone! I’m designing and building a sub 250g for a long time and now it is “ready”. 1 as the FC. Yes, it has something to do with: If UART load is minimal, these errors are very small or nonexistent. Maybe a nice task to do but have to do more reading. 1. Both the gps placed at well enough distance and more height from other After mission planner reconnects the compass is reporting correctly and I can move the craft in yaw and get no errors. Hello everyone. It comes with their Ublox GPS/compass unit as well. I installed Arducopter Quad 3. 3 I followed all steps from here: [url Thanks for helping explain to others in this important area. 3, and I have conducted several way point missions without any issue. 3 Hey guys, I’m relatively new to robotics, so please excuse my naivety. I’ve been flying this bird off and on for a few months, and had a strange situation in flight yesterday. 00) scale: 0. Running 3. Pretty frustrating because those compass variance errors have dire consequences sometimes! Any help is greatly appreciated. Pixhawk 4: Holybro External compass (1ea): Holybro 1. I managed to Switch to stabilize and was able to do a landing. I’m trying to disable the internal compass by setting parameter COMPASS_USE2 = 0, so heading/yaw will be based on the external compass only (COMPASS_USE = 1). 4, and still the same. I was calibrating my drones pixhawk using mission planner. I keep getting a compass variance error on the plane. I recently did a flight test with my Erle-Hexacopter. Disable internal compass. 57 and number of satellites is more than 24 all the time. The aircraft was about 1 mile away at the ArduPilot Discourse Down with compasses. The drone config is as following: ArduCopter version :V4. The compass variance in my case was caused by my external compass being rotated. The GPS HDOP is below 0. When analysing log, I realize there was some “noisy” or “abnormal” mangetic intensity in x and y axis. (see pic) I taped the cable Hello, Recently I assembled a Quad with Cube 2. I’ve had issues with MP giving me repeated errors “POS Horizon Variance” and “Velocity Variance”. Reviewing the flight logs, I noticed a compass error: Test: Compass = FAIL - FAIL: Large compass offset in MAG data (X:-277. 5 and during configuration i faced errors related to Bad AHRS. Compass Settings¶ The Mission Planner Compass Setup screen can be found in menu Setup | Mandatory Hardware | Compass in the sidebar. 1. 6 firmware and Mission Planner 1. 1 on CUAV V5+ with dual gps setup on hybrid engine hexa copter. Also got “EKF IMU0 yaw aligned to GPS velocity” message. 00, Y:-391. 93) diag: Vector3(1. In addition,the Accelerometer Calibration should be completed before the Compass Calibration. Dataflash log are partially missing. I had just completed a grid mission, fully in Auto. For the past few weeks, the errors “ERROR COMPASS VARIANCE” and “BAD COMPASS HEALTH” have constantly been popping up. Clicking the EKF button on the Mission Planner HUD will show the magnitude of the error. I am moving the pair quite vigorously and the EKF errors are < 0. Before compass calibration, I moved and flipped the propellers so that they would not generate the thrust. A couple of unrelated things I noticed: COMPASS_LEARN is "1". The direction is constantly changing, and compass errors may occur in all directions. Just yesterday I did upgrade to FW 4. 3. 8 and I have never had this problem. Can anyone please give me some hints on how to troubleshoot my issue? I’m getting a compass variance error when I yaw at max speed for about 15 seconds or more. please post tlogs and logs. - I know that you have worked out compass offsets manually from logs before. I can’t even use the remote control to control the copter on the yaw axis, whereas pitch/roll and throttle are Hello community) Have a problem with the calibration accelerometers on the CUBE ORANGE PLUS. They are sending different direction information to the flight controller. First and third compass values seems to get good values, but second one not. When I armed the drone and slowly increased the throttle, I noticed some The EKF’s compass variance is because the primary compass’s (usually the external one) vector isn’t moving consistently with the other sensors (ie. Increasing the COMPASS_CAL_FIT value will increase the acceptance level of the onboard calibration. Set your compass calibration values to 0 and set a correct board orientation and external compass orientation (‘sometimes’ the external mag have wrong orientation labels). While the rover is operating, Mission It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” which allows converting the location’s magnetic North to true North without recalibrating . The drone took off, and the magnetic variance suddenly jumped to > 1. This problem reproduces on every flight. Today I was putting together a new quad with a brand new flight controller and I could not get the Compass to calibrate in mission planner. 6310. I could get it to work in APM planner Primary Compass: specifies which compass ArduPilot will use for heading data (only one compass is used for navigation). How can I check a compass calibration that is good like this?. With the Most users will only need to perform the normal Compass Calibration but details are also given on the less-used CompassMot. With the exception of the i2c board losing 2 ports, which I have replaced, all other electronics seemed to be in good condition post crash. This WIKI documentation attempts to reduce the effort of configuring and operating your ArduPilot based vehicle by providing as much accurate information on configuration, parameters, and operating modes as possible, and is continuously being updated as new releases occur or areas needing further explanation arise. Notifications You must be signed in to change notification EKF Compass Variance #7847. This phenomenon disappears except for the internal compass, is it a cube problem? Hello Everyone! I am using a Pixhawk and an external GPS/Compass Unit and I come across the following problems: After calibrating both the internal and the external compass with the Onboard Calibration the orientation shown in the Flight Data panel was correct but it started rotating after a few seconds and ended up with an offset. I observed that the normalized innovation for position in very low also the compass variance is below 0. For the first time, the compass calibration reports “good”. 0 from a small local company. Holding a position and flying properly. 7 MB) I zipped the file to reduce size. Now I rebuilt the frame to separate GPS for all electronic, but no help. Compass direction appears incorrect. The compass calibration seems to go okay, although the numbers seem high. Compass interference¶ Interference from the power distribution board, motors, battery, ESCs and other electrical devices near the autopilot can throw off the compass heading which can lead to circling (aka “toilet bowling”) or even the It's most likely some kind of frame issue rather than a software issue so if you know of any metal objects near the compass that could be the cause. higher weighting to the compass) As mentioned above, a more detailed overview of EKF theory and tuning parameters is available on the developer wiki’s Extended Kalman Filter Hello, Im using the Pixhawk 2. I did a Hey guys, Running 3. runzld ajdg awhzie jradvnt rbc mqb brfutk kuxlhg qpoht ymlj