Inav: Doesn't detect gyro and accell

[FFF200]

OMNIBUS F4 Nano V6
Target: Firework V2

INav 2.0-2.4 works well.
INav 2.5 - does not define an accelerometer and gyro.
In Configuration, resets it to NONE.
Manual selection doesn't help.
In the upper panel, accel and gyro are lit red.
Flash witch full chip erase.

Set manually. Does not work.

Again I flash with full Erase iNav 2.4 - and everything works.
On iNav 2.2, I flew safely on this setup until I decided to upgrade to 2.5 to get new filters.

iNav 2.4-immediately after the firmware:

diff

version

INAV/FIREWORKSV2 2.5.0 Jun 7 2020 / 11:10:57 (694767938)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

start the command batch

batch start

resources

mixer

servo mix

servo

logic

gvar

gf

feature

beeper

map

serial

led

color

mode_color

aux

adjrange

rxrange

temp_sensor

wp

wp 0 invalid

osd_layout

master

set looptime = 500
set gyro_sync = OFF
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 110
set gyro_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 120
set acc_hardware = MPU6000
set mag_hardware = QMC5883
set baro_hardware = BMP280
set pitot_hardware = NONE
set applied_defaults = 2
set mc_airmode_type = THROTTLE_THRESHOLD

profile

profile 1

set mc_p_pitch = 44
set mc_i_pitch = 75
set mc_d_pitch = 25
set mc_i_roll = 60
set mc_p_yaw = 35
set mc_i_yaw = 80
set dterm_lpf_hz = 110
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set dterm_lpf2_type = PT1
set use_dterm_fir_filter = OFF
set dterm_setpoint_weight = 0.750
set d_boost_factor = 1.500
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_yaw_expo = 70
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

battery_profile

battery_profile 1

end the command batch

batch end

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[FFF200]

The main and only gyroscope is not defined...

In iNav 2.4, it was registered separately, there is no description of it here, or rather it stands as secondary in the conditions target = FIREWORKS V2

[digitalentity]

Interesting. This change was tested on FIREWORKS V2 board. Can you please post output of the status and version command from 2.4.0 ?

[FFF200]

Please write what you need to output.
I will do.

Now I will compile the firmware with my changes, check it in the evening and test it. But it will only be for the OMNIBUS F4 Nano V6.
In IMU_1, I will write the MPU6000 parameters from iNav 2.4

In 2.4, there was an explicit definition of MPU6000 and it worked.
In 2.5, it was removed and compatibility with OMNIBUS F4 Nano V6 by Target disappeared.

[FFF200]

status and version - ОК.
I'll write this evening.

[FFF200]

I'll test it tonight:

#if defined(OMNIBUSF4V6)
#   define IMU_1_CS_PIN            PA4
#   define IMU_1_SPI_BUS           BUS_SPI1
#   define IMU_1_ALIGN             CW180_DEG
#   define IMU_2_CS_PIN            PC14
#   define IMU_2_SPI_BUS           BUS_SPI1
#   define IMU_2_ALIGN             CW0_DEG
#else
    // FIREWORKS V2 - only for OMNIBUS F4 Nano V6
#   define IMU_1_CS_PIN            PA4          // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000
#   define IMU_1_SPI_BUS           BUS_SPI1     // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000
#   define IMU_1_ALIGN             CW180_DEG    // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000
#   define IMU_2_CS_PIN            PC14         // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6  
#   define IMU_2_SPI_BUS           BUS_SPI1     // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6  
#   define IMU_2_ALIGN             CW0_DEG      // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6  
#endif

[FFF200]

2.4

`# version

INAV/FIREWORKSV2 2.4.0 Feb 11 2020 / 22:09:19 (bcd4caef9)

GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]

status

System Uptime: 179 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.51V (1S battery - NOT PRESENT)
CPU Clock=168MHz, GYRO=MPU6000, ACC=MPU6000, BARO=BMP280, MAG=QMC5883
STM32 system clocks:
SYSCLK = 168 MHz
HCLK = 168 MHz
PCLK1 = 42 MHz
PCLK2 = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE
Stack size: 6144, Stack address: 0x10010000, Heap available: 1928
I2C Errors: 0, config size: 5705, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 2, used = ADC 2
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 1, used = ADC 1
AIRSPEED : configured = none, used = none
System load: 4, cycle time: 503, PID rate: 1988, RX rate: 49, System rate: 9
Arming disabled flags: COMPASS ACC RX CLI
`

[FFF200]

and 2.5

version

INAV/FIREWORKSV2 2.5.0 Jun 7 2020 / 11:10:57 (694767938)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

status

System Uptime: 18 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.51V (1S battery - NOT PRESENT)
CPU Clock=168MHz, BARO=BMP280, MAG=QMC5883
STM32 system clocks:
SYSCLK = 168 MHz
HCLK = 168 MHz
PCLK1 = 42 MHz
PCLK2 = 84 MHz
Sensor status: GYRO=UNAVAILABLE, ACC=NONE, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE
Stack size: 6144, Stack address: 0x10010000, Heap available: 1948
I2C Errors: 0, config size: 5803, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 2, used = ADC 2
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 1, used = ADC 1
AIRSPEED : configured = none, used = none
System load: 8, cycle time: 103, PID rate: 9708, RX rate: 49, System rate: 9
Arming disabled flags: ANGLE CAL COMPASS HWFAIL RX CLI
VTX: band: A, chan: -, power: / (60 mW)

[FFF200]

and my test fix 2.5

my fix (branch) works!

`# version

INAV/FIREWORKSV2 2.5.1 Jun 10 2020 / 18:50:38 (839a87739)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

status

System Uptime: 127 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.52V (1S battery - NOT PRESENT)
CPU Clock=168MHz, GYRO=MPU6000, ACC=MPU6000, BARO=BMP280, MAG=QMC5883
STM32 system clocks:
SYSCLK = 168 MHz
HCLK = 168 MHz
PCLK1 = 42 MHz
PCLK2 = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE
Stack size: 6144, Stack address: 0x10010000, Heap available: 1928
I2C Errors: 0, config size: 5775, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 2, used = ADC 2
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 1, used = ADC 1
AIRSPEED : configured = none, used = none
System load: 2, cycle time: 502, PID rate: 1992, RX rate: 49, System rate: 9
Arming disabled flags: COMPASS ACC RX CLI
VTX: band: A, chan: -, power: /
`

`#if defined(OMNIBUSF4V6)

define IMU_1_CS_PIN PA4

define IMU_1_SPI_BUS BUS_SPI1

define IMU_1_ALIGN CW180_DEG

define IMU_2_CS_PIN PC14

define IMU_2_SPI_BUS BUS_SPI1

define IMU_2_ALIGN CW0_DEG

else

// FIREWORKS V2 - only for OMNIBUS F4 Nano V6

define IMU_1_CS_PIN PA4 // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000

define IMU_1_SPI_BUS BUS_SPI1 // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000

define IMU_1_ALIGN CW180_DEG // OmnibusF4 Nano v6 and OmnibusF4 V6 has a MPU6000

define IMU_2_CS_PIN PC14 // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6

define IMU_2_SPI_BUS BUS_SPI1 // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6

define IMU_2_ALIGN CW0_DEG // replaced from OMNIBUSF4V6, does not interfere with work, tested flashing OMNIBUSF4V6

endif`

[FFF200]

Please tell me how to change the Current sensor to RX4 ?

To solder an external current sensor to it.

In Target only:

define CURRENT_METER_ADC_CHANNEL ADC_CHN_1

[digitalentity]

From where did you get #define IMU_2_CS_PIN PC14 ? This will break actual Fireworks V2 board.

[FFF200]

Yes, I did for the Omnibus F4 Nano V6 (target Fireworks). Test.

Since I don't know how to combine them both.
Inav 2.4 did not use _IMU_ and there was an override for MPU6000:

I also tried to flash 2.5 target OmnibusF4V6, and it has the same parameters and the accelerometer worked:

In 2.4, the OMNIBUSF4V6 or Fireworks selection block (including my Omnibus nano) only defined the MPU6500.

MPU6000 was defined below for all. And everything worked.

In 2.5, the selection block defines both accelerometers rigidly, but this is not suitable for Omnibus nano, since the first one is MPU6000 on PA4 BUS_SPI1 - like OMNIBUSF4V6.

It is necessary to either return the definition scheme as in 2.4 or enter a new Target for Omnibus nano, which is probably unnecessary.

[AlexAlle2020]

I have the same problem on this controller. Sadness.

[digitalentity]

Fixed by #5838, will go live in 2.5.1 patch release

[FFF200]

Temporary solution.
CLI: set gyro_to_use = 1

[digitalentity]

Fix verified on Omnibus F4 Nano V6

[markpmasonst]

I don't believe this is fixed. The final inav 2.5 still has the issue.

[digitalentity]

2.5.1 containing the fix is not released yet. Wait for it

[AlexAlle2020]

"Temporary solution. CLI: set gyro_to_use = 1" Did it and it works. How reliable is this solution, can I fly far?

[FFF200]

A colleague checked and flies. Please note that the gyroscope will need to be turned over in the settings, since the second gyroscope is used from the fireworks. the fix is not quite correct in version 2.5.1. it will work exactly the same way - with an inverted gyroscope. in omnibus nano, it is located as in omnibusf4. in 2.4, this was taken into account.

[AlexAlle2020]

да конечно я перевернул , полетал на коптере пару паков рядом (пару часов) , так вроде все ок . Глвное чтоб гира где то далеко не отвалилась) спасибо.

[AlexAlle2020]

I also noticed that the current sensor does not read from the telemetry of the motor regulators, and the video transmitter power is not regulated.

[FFF200]

да конечно я перевернул , полетал на коптере пару паков рядом (пару часов) , так вроде все ок . Глвное чтоб гира где то далеко не отвалилась) спасибо.

Удачи!

[FFF200]

I also noticed that the current sensor does not read from the telemetry of the motor regulators, and the video transmitter power is not regulated.

I have blhelly s controllers without telemetry. therefore, I use an external sensor on the RX4. I will check the video transmitter control. but the pit stop seems to be working

[Elaugaste]

Current via ESC telemetry not work on nano v6 :( on rx4 must connect blheli32 telemetry

[FFF200]

Analog current on rx4:

-#define UART4_RX_PIN PA1
+#define UART4_RX_PIN NONE

-#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_1_PIN PA1

Profit.