RTK on a UAV is more useful to increase accuracy of photogrammetry etc than to improve aircraft control, but it still shows a noticeable improvement over a standard GPS module.
Very interesting stuff, especially the drift over time tracking at the end. I really think you should try the supplied u‑blox antenna unless you have found a serious detrimental effect on the magnetometer. In our testing the antenna magnet only had significant effect when closer than 3cm to the magno. But that needs to be confirmed on your setup. The drift over time and the position repeatability was "not so great" and I can only put it down to either software or bad multipath rejection with that 4$ antenna assuming the static reference gps module had a decent period to settle in survey mode.
M8N looks pretty close, especially for about $21. I guess I could figure out a way to compensate for its errors. 1 to 1.5 meters would be ok for the autonomous rover/mower I'm building. My lot is only 688 square meters in size. Again, great videos! I've learned a lot, thanks!
You might be able to get more horizontal position precision by playing with nav_mc_pos_xy_p, nav_mc_pos_xy_i, nav_mc_pos_xy_d, nav_mc_vel_xy_p, nav_mc_vel_xy_i, and nav_mc_vel_xy_d. The position controller is feeding the input of the velocity controller. Did you try playing with them ?
iforce2d, I am following your channel and I support your tutorials since 2 years, you do a great job with all these videos drones. You know, its helped me so much in my project of end of study. so thank you a lot friend.
The reason for inav overshooting the position hold on RTH is probably the pos hold pid parameters not being tuned enough. Try increasing the derivative and you should get rid of this behaviour.
How far must a GSM antenna or WiFi antenna stay away from a speaker taken out from a resident telephone set? How two antennas (GSM n WIFI antenna) apart from each other? Should GSM antenna place horizontally?
I am just about to start a kit build using these components would it be OK to ask a newbie question. Do you have to do a calibration dance (turn it around 3 times) like you do with Phantoms and the like before each flight? Cheers!
Thanks for that! Just never see anyone do it with one of these and whilst I fly toy grade right now I have to do it every flight. Once again thanks and subbed. ;)
It's all in the docs bro :) github.com/iNavFlight/inav/wiki/Sensor-calibration ardupilot.org/copter/docs/common-compass-calibration-in-mission-planner.html
One question, how do you run a hex setup with an omnibus f3? I can't. M5+6 are shared with uart3, and I need all 3 uarts for telemetry, gps and receiver. Maybe softserial? But there are no pins left.
Yeah I ran into that problem too. I put my receiver onto UART2, and the gps onto UART1. For telemetry I will be using the OSD which runs on SPI so it doesn't steal any UARTs. The only pins remaining that look even remotely possible for softserial might be M7+8 but I think you'd need to compile your own build to get it to happen. In some ways my good old F1 flip32 was more convenient, it flies great on a very early iNav version and has no problem connecting all these peripherals. One of the common points claimed as an advantage of moving from F1 to F3 is that you get more UARTs, but if you don't actually get to use them in reality I have to wonder if it's actually a step forward.
Thank you, I can at least get it flying that way, and have RTH, but I wanted to use a 3dr radio and mission planner with it, probably not possible. I will have another try with Ardupilot on PXFMINI and RPI2, which brings up a whole bunch of other problems, linux hacking etc, but well, it would be boring without these challenges. Whish you all the best and looking forward to more videos from you. Mark
I tried different settings. Anyway, accuracy even within a meter does not fit. From 10 flight times, it is still 2-3 times to return more than a meter from the take-off point. 1.5 meters; 1.2 meters. Does rtk work with such accuracy?
As I mentioned in my summary, flight control is not really a good use of RTK because there is too much outside influence (wind, compass accuracy etc). On top of this the flight controller is not programmed to be very fussy about precise positioning, it's main purpose is just to land near enough to the target. What you need for really great positioning is an environment where for example, if the vehicle decides to move 30cm, it really will move 30cm precisely. In other words, a ground vehicle with good friction contact to the ground and ideally some secondary method of measurement like rotary encoders on the wheels.
@@iforce2d Got it. Does it depend on a lot of external facts? Ie RTK is better, but not 100%. Centimeter accuracy, I can hardly get on a quadrocopter? About the settings. I read on the website pixhavk instructions on the RTC, on the site of the Drotek and watched your video. Settings differ a bit everywhere. What are the best settings to install. And how much accuracy depends on the settings. I changed to settings advanced from the site Drotek. And I did not notice the exact difference (
iforce2d Maby it das on inav i dont know i use apm myself and i allways unplug and plug back to be safe. It just looked like it returned back to the second position from that camera angle that's why I thought i mention it. Anyway I thought it was pretty good regardless.👌
What degree of accuracy would satify your ideas ? Maybe triangulating on mobile phone towers would more accurate. Do you have three towers in NZ yet mate ?
Probably... hasn't the majority of the 1% fled to there to setup defensible compounds to wait out the die off from climate change? Definitely high cash influx.
There's some pretty impressive wind-gust multi-rotor position holding coming outof TUDelft lately: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-VddwU5CabS8.html I dunno... UAV goals i guess? Probably not open source i'm guessing. :T
Antreas Demetriou Its best $15 flight controller money can buy ;-) m.ebay.com/itm/OMNIBUS-F3-AIOV1-1-Flight-Controller-w-Integrated-OSD-Barometer-Support-SD-card/292164545995?hash=item44065d2dcb:g:uWEAAOSwcj5ZUdVR
