PX4-Autopilot icon indicating copy to clipboard operation
PX4-Autopilot copied to clipboard
verified publisher icon PX4

[v1.16 Release Candidate] - Flight Testing & Flight Issues (log archive)

Open mrpollo opened this issue 11 months ago • 51 comments

:exclamation: About

💡 For the upcoming v1.16 release, we are asking the Community for flight tests. This issue will be used for keeping track of all the tests from the Community.

If you're unsure about upgrading, please read the preliminary release notes on the PX4 docs. Pay close attention to the Upgrade Guide before deciding if v1.16 is right for you.

❓ Why we need flight testing

🌏 Thousands of people around the world depend on the stable release of PX4. 🖐️ Before every major release, as much testing as possible is needed to ensure that our release actually works! 😯 Simply said, more testing = better release 🤗 We would like to encourage every community member to join us in improving PX4!

🤷 How you can help with flight testing

😱 Even if you have never contributed a flight testing report, fear not! Please follow the steps below for the details of how you can contribute to flight testing.

  1. Select a category from the "flight testing matrix" below
  2. Flash the firmware (documented below)
  3. Test
  4. Upload the log (documented below)
  5. Report the test in this issue thread!

Test Procedures

https://docs.px4.io/main/en/test_and_ci/test_flights.html

How to flash v1.16 pre-release firmware

beta_flashing

  1. Open QGC
  2. Click the Q icon on upper right > Vehicle Setup > Firmware (Step 1 in picture)
  3. Connect your flight controller to the computer
  4. When the Firmware setup window pops up, click "Advanced settings" checkbox
  5. Select "Beat Testing (beta)" from the drop down (Step 2 in picture)
  6. Click "Ok"

This should automatically flash & reboot your flight controller with the latest v1.16 beta release!

How to share your log

First, retreive the log from the flight controller in QGC Q icon > Analyze Tools > Log Download, and find the log you want to download.

log_uploading

Then:

  1. Go to https://logs.px4.io/
  2. Click on "Flight Report" tab (this allows public viewing of the log in the browse page)
  3. Add the ULog file
  4. Fill in the description, feedback, and video URL (if available)
  5. Click "Upload"
  6. Copy and paste the link of the log, and share it to this thread

When posting on this thread, please mention what kind of test it was (especially if it is one of the testing matrix options) & general info behind it!

Questions?

Feel free to ask any questions regarding flight testing in the #dev-team channel in the discord server!

Results (05/12/25)

💪 Release Testing

Date Status Submitter Release Platform Flight Controller Flights / Logs Notes Link
1/16/2025 ❌ afwilkin v1.16.0-alpha1 Quadcopter Pixhawk 4 2 Link
1/23/2025 ✅ afwilkin v1.16.0-alpha1 Quadcopter Pixhawk 4 2 Link
1/29/2025 ✅ afwilkin v1.16.0-alpha1 Quadcopter Pixhawk 4 6 Link
1/29/2025 ✅ afwilkin v1.16.0-alpha1 Quadcopter Pixhawk 4 2 Link
2/10/2025 ✅ afwilkin v1.16.0-alpha1 Quadcopter Pixhawk 4 5 Link
3/5/2025 ✅ DroneWuKong v1.16.0-rc1 Quadcopter Pixhawk 6X-RT 11 Link
5/9/2025 ✅ afwilkin v1.16.0-rc1 Quadcopter Pixhawk 6C 2 Link
5/13/2025 ✅ TeddyZaremba v1.16.0-rc1 Quadcopter VOXL 2 8 Precision land issue Link
5/19/2025 ⚠️ dk7xe v1.16.0-rc1 Quadcopter Pixhawk 6X-RT 9 Various inconsistencies Link
5/20/2025 ✅ dirksavage88 v1.16.0-rc1 Quadcopter Pixhawk 6X 8 QGC v5 Crash Link
5/21/2025 ⚠️ DroneWuKong v1.16.0-rc1 Quadcopter Cube Orange+ 1 No GPS Link
5/21/2025 ⚠️ JulianOes v1.16.0-rc1 Quadcopter Cube Orange+ 1 Tuning required Link
8/8/2025 ✅ dk7xe v1.16.0-rc1 Fixed Wing Pixhawk 6X-RT 4 Link
8/11/2025 ✅ TeddyZaremba v1.16.0-rc2 Quadcopter Pixhawk 6C 1 Collision Prevention Link
8/22/2025 ✅ afwilkin v1.16.0-rc3 Quadcopter ARK V6X 3 Link
8/29/2025 ✅ dk7xe v1.16.0-rc3 Fixed Wing Pixhawk 6X-RT 5 Link

mrpollo avatar Jan 08 '25 16:01 mrpollo

From @PX4/testflights

No control in stabilized mode. the drone was not reacting to my movement commands. The drone started to slide back, I would pitch forward, and the drone would not react in accordance. Tried to then pull back in case the controls were flip flopped somehow, nothing happened. Crash

https://review.px4.io/plot_app?log=fb2ea683-bfaa-449b-991f-58eae53c97dd https://review.px4.io/plot_app?log=35493241-0b0a-42c1-9a49-3bbc1670e2ca

Drone that was being used (quadcopter, vtol, etc...): quadcopter x500 Flight controller (holybro pixhawk 6c, cube orange, etc): pixhawk 4 Radio (SBUS, sik telemetry, etc): sbus Controller (joysticks, RC): RC Position (GPS, VIO, Flow): GPS ESC (dshot, pwm, etc): PWM

afwilkin avatar Jan 16 '25 19:01 afwilkin

Wanted to post this here as well. Pixhawk4 with arkflow running 1.16

Video: https://www.loom.com/share/141ee5ee32f64e519b5aaf798f495941?sid=f34c75a7-4a02-4fea-be0c-6a24d3742b98 Logs: https://review.px4.io/plot_app?log=4f5c42ac-5696-44e7-8a57-03a033661189 https://review.px4.io/plot_app?log=bb955f4b-f2d9-49d1-b96a-0ba4e06be0a6

I fly in position mode with joysticks instead of RC that i did in my initial testing

Drone that was being used (quadcopter, vtol, etc...): quadcopter x500 Flight controller (holybro pixhawk 6c, cube orange, etc): pixhawk 4 Radio (SBUS, sik telemetry, etc): sik telemetry Controller (joysticks, RC): Joysticks Position (GPS, VIO, Flow): ArkFlow ESC (dshot, pwm, etc): PWM

afwilkin avatar Jan 24 '25 03:01 afwilkin

@afwilkin Thanks for the tests.

Could you please also add a quick overview of the setup (looking at the log it's a multirotor with optical flow and range finder, no GNSS) and what's the outcome of the flight test from your perspective (e.g.: all good, height oscillation, position drift lower/higher than 1.15).

bresch avatar Jan 24 '25 10:01 bresch

Apologies for the delay, I thought this was in the other PR we were working on. I just updated my comments above

afwilkin avatar Jan 29 '25 16:01 afwilkin

From @PX4/testflights

No control in stabilized mode. the drone was not reacting to my movement commands. The drone started to slide back, I would pitch forward, and the drone would not react in accordance. Tried to then pull back in case the controls were flip flopped somehow, nothing happened. Crash

https://review.px4.io/plot_app?log=fb2ea683-bfaa-449b-991f-58eae53c97dd https://review.px4.io/plot_app?log=35493241-0b0a-42c1-9a49-3bbc1670e2ca

Drone that was being used (quadcopter, vtol, etc...): quadcopter x500 Flight controller (holybro pixhawk 6c, cube orange, etc): pixhawk 4 Radio (SBUS, sik telemetry, etc): sbus Controller (joysticks, RC): RC Position (GPS, VIO, Flow): GPS ESC (dshot, pwm, etc): PWM

Re - Stabilization Issue,

What caused the crash in my earlier post MIGHT have been more of a heading issue than a broken stabilization flight mode or RC issue. I

  1. reflashed 1.15.2 on the vehicle
  2. flew in stabilized over RC and did not see any issues
  3. Flashed 1.16.0 alpha
  4. Recalibrated the RC
  5. Reran the same tests
  6. Did not see an issue, BUT I did see points where the vehicle would randomly yaw without my input

This makes me think there might be something about the mag that is feeding in to the heading that is causing some inconsistencies between 1.15.2 and 1.16.0

afwilkin avatar Jan 29 '25 18:01 afwilkin

Following the tests outlined here

Arm and Take-off Video: https://www.loom.com/share/6ab405b7b71d426d8a55fa5b50d906de Log: https://review.px4.io/plot_app?log=1809ab53-0576-4952-83f9-96762e040c66

Flight

Stabilized:

Video: https://www.loom.com/share/6ab405b7b71d426d8a55fa5b50d906de Log: https://review.px4.io/plot_app?log=1809ab53-0576-4952-83f9-96762e040c66

Altitude:

Video: https://www.loom.com/share/35cc4a5185074605b092a9548852556a?sid=3b0b36de-7eb3-4010-9cb2-84272b707644 Log: https://review.px4.io/plot_app?log=5161578f-2dd4-45b5-aacc-bfc18d68b1fc

Position

Video: https://www.loom.com/share/ebb87c86ba1c4ca59a090509b13493af?sid=f41d0e77-c455-4ce3-a6a9-68b8f61735ec Log: https://review.px4.io/plot_app?log=1ded9991-d23a-4409-9c23-e5fa144621e7

Landing Video: https://www.loom.com/share/2fe0d6627fc742d189a0a98e27732082?sid=c54ebc9f-447e-4abf-875a-355a7c609141 Logs: https://review.px4.io/plot_app?log=335c5220-8ed4-478d-9153-0e7efbeb9836 https://review.px4.io/plot_app?log=6317f09e-1f3d-4110-8760-360ac2f590a1

afwilkin avatar Jan 29 '25 18:01 afwilkin

Create and upload mission Video: https://www.loom.com/share/5b6b365647914e6fb5c8e4d7861ef276?sid=7dcd119e-902b-4ec1-a000-06fa4de410f3 Log: https://review.px4.io/plot_app?log=2babfc02-e180-4651-944d-4b83b57f72ab

Arm and Take-off Video: https://www.loom.com/share/5b6b365647914e6fb5c8e4d7861ef276?sid=e7e0b888-0570-4e45-b302-035b7dcef28d Log: https://review.px4.io/plot_app?log=de383900-edbc-4cb9-b881-491820895eb1

afwilkin avatar Jan 29 '25 21:01 afwilkin

@afwilkin I had a look at your original log. RC input data looks fine. Translation to setpoints also looks high level ok, tracking is not good and I think this is because the yaw rate and hence also the yaw goes unstable: Image

Could it be that your vehicle's motor mounts on the arm are not rotated the right way or even rotated slightly the wrong way? That could explain the lack of yaw authority even if the propeller turn direction and motor assignment is correct. For reference the motors should be ever so slightly (2-5°) tilted like indicated on my drawing (assuming props turn in default "cleaning" direction otherwise everything is the opposite way): Image

It can well be a combination e.g. the heading estimate had a problem and the lack of yaw rate control authority made it unstable or at least unable to settle in the short flight time.

MaEtUgR avatar Jan 30 '25 08:01 MaEtUgR

I found proof for my hypothesis with the yaw authority. Two motors are basically idling and the other two carry all the weight and still the yaw turns in the wrong direction. Please verify the airframe according to my scetch. I'm happy to explain if it's not clear. Image Note that in the later logs you posted it's slightly better but the issue clearly still persists: Image

MaEtUgR avatar Jan 30 '25 08:01 MaEtUgR

I found proof for my hypothesis with the yaw authority. Two motors are basically idling and the other two carry all the weight and still the yaw turns in the wrong direction. Please verify the airframe according to my scetch. I'm happy to explain if it's not clear. Image Note that in the later logs you posted it's slightly better but the issue clearly still persists: Image

Yes, thank you for finding that. When one of our UAV's crashed two of the arms got pushed in a bit, causing them to be shorter than the others and inducing this weird behavior. We fixed the issue and continued our flight testing.

Appreciate the find!

afwilkin avatar Feb 10 '25 18:02 afwilkin

Failsafe Testing

Description of vehicle: Holybro s500 Flight controller: Pixhawk 4 Radio: Sbus + Sik telemetry Controller: RC Position: GPS ESC: PWM

Auto Manual Mix

Mission Result: Pass Log: https://review.px4.io/plot_app?log=07e64eb7-20e5-4e81-8e0c-c1c6f4fd889f Comments: Did mission well

Takeoff in position mode, flip to mission mode, RTL Result: Pass Log: https://review.px4.io/plot_app?log=9f9d4ed9-6f4f-4dc1-b2d9-84311ecbd8c7 , https://review.px4.io/plot_app?log=67332627-897e-413a-88b6-7032d2009e8f Comments: nothing really wrong. No issue

RC Loss Result: Pass Log: https://review.px4.io/plot_app?log=4ecae679-853c-4899-82ff-b5575a17f0c7

Datalink Loss Result: Pass Log: https://review.px4.io/plot_app?log=7bdac691-a08a-4dfa-b24e-e9220eab0fbc , https://review.px4.io/plot_app?log=5c8ce834-65bc-410b-aa34-c035fd98f25f Comments: It felt longer than 10 seconds from unplugging the radio, to the drone activating the failsafe. I then realized that the drone will wait 10 seconds to declare there is no connectivity, and then wait 5 more seconds to activate it.... which might be misleading. On the first log we plugged the SIK radio back in, but QGC did not reconnect to drone until we hit the "Disconnect" button in QGC, reinitializing the SIK radio and making a connection. This is expected behavior as we have seen it in past versions of PX4. So, no issue. In the second log we hit the "Disconnect" button, reacquired the UAV, and took position control as expected.

Battery Failsafe Result: Pass Logs: https://review.px4.io/plot_app?log=e689fe73-41c2-440a-86a5-d03d46289086 , https://review.px4.io/plot_app?log=ba880f55-03f4-4288-9e3f-8017a1f6944e Comments: The first log we flew in position mode until the battery failsafe was hit, and the drone went into RTL mode. we then took over manual control, and waited until the emergency level was hit. The drone then went into land mode. In the second log the cold caused the battery discharge to fall a bit more...rapidly and then drone never had a change to activate RTL, and went straight into land. As it should.

afwilkin avatar Feb 10 '25 20:02 afwilkin

Dump of logs from testing out on the FMUv6X-RT (NXP-VMU-RT1176)

About the Vehicle

Description of vehicle:

  • Holybro X500 v2
  • Flight controller: PX4_FMU_V6XRT
  • Radio: Sik telemetry 915mhz
  • Controller: RC
  • Position: GPS
  • ESC: PWM
  • Battery: 4s 3300mah

Setup

  • QGC: v4.4.4
  • PX4: v1.16.0-rc1 *
    • Notes regarding firmware: In the firmware update menu I chose "beta", QGC states firmware is 1.16.0beta not "RC"

Testing Results

General Reports During Battery Failsafe testing, "issues" arise when setting failsafe levels and logic in handling voltage sag to activate critical failsafe. In a low battery situation, the time before battery warning, battery critical and emergency landing can be triggered if batteries have higher than normal voltage sag.

Flight Review Logs:

Flight 1

  • Video: https://www.loom.com/share/922707bc7df947c788db3dc703641c16?sid=5c8f77ca-f2c3-4c78-9faa-08e1a1b24be0
  • Log_10 https://review.px4.io/plot_app?log=e3e1f958-d031-44d7-a407-a398d2c0280a
  • Log_11 https://review.px4.io/plot_app?log=82c53194-b4bd-4e58-a813-052cc24df78d
  • Log_12 https://review.px4.io/plot_app?log=39fd63ff-4756-4ffa-83c1-efb28acadb36
  • Log_13 https://review.px4.io/plot_app?log=178fcb07-1cde-4d1e-94e6-189bff8cdae8

Flight 2

  • Video: https://www.loom.com/share/699e22195e6b49f4808a3dcee9928d0c?sid=70f92797-4cab-479b-afd0-eb5dcc1134d9
  • Log_14 https://review.px4.io/plot_app?log=613e0535-ef9a-4b6d-ba35-a44f7b8566b4

Flight 3

  • Video: https://www.loom.com/share/41a255f4ebb54c2fa9f4b4ba3fa33e07?sid=4f94293d-00ab-4f59-88fb-426709c17db9
  • Log_15 https://review.px4.io/plot_app?log=fb03dbbc-a8ef-4217-8e8f-37929c5f5908

Flight 4

  • Video: https://www.loom.com/share/824bc26e965e46a1a37cc0b5c014aeed?sid=da4a8413-b773-4233-a34e-8e9aa107f796
  • Log_16 https://review.px4.io/plot_app?log=4a2dea9c-f580-41db-acfd-dce392ad24cd
  • Log_17 https://review.px4.io/plot_app?log=772b0a55-b668-4bb8-8bf4-e185832b00b2

Flight 5

  • Video: https://www.loom.com/share/0508de1f1a8c474480b9c74840eb5923?sid=8108834d-0d00-4f37-8545-c7d988e72d9c
  • Log_18 https://review.px4.io/plot_app?log=7eed0801-351b-42c5-9e0d-d03b41cd4dc0
  • Log_19 https://review.px4.io/plot_app?log=c4ca70c9-cb41-48fd-96aa-b17c16d2608e

Flight 6

  • Video: https://www.loom.com/share/4a5a20029b504c05b2038b994607449e?sid=8d16d715-7cef-4555-92cd-9bf36d07ccdc
  • Log_20 https://review.px4.io/plot_app?log=3b424515-553e-462a-8d37-5cd66b96cc05

DroneWuKong avatar May 05 '25 18:05 DroneWuKong

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-team-sync-and-community-q-a/45433/1

DronecodeBot avatar May 06 '25 22:05 DronecodeBot

About the Vehicle

Description of vehicle:

Holybro X500 v2 Flight controller: PX4_FMU_V6C Radio: Sik telemetry 915mhz Controller: RC Position: GPS ESC: dshot Battery: 4s 3300mah Setup

QGC: v4.4.4 PX4: v1.16.0-rc1 * Notes regarding firmware: In the firmware update menu I chose "beta", QGC states firmware is 1.16.0beta not "RC"

Testing Results

Flight Review Logs:

Flight 1

  • https://review.px4.io/plot_app?log=2623fc00-a4db-46c5-a6c7-b2f444481ad9

Flight 2

  • https://review.px4.io/plot_app?log=b7288560-05c7-4c14-a8cb-4cf628eb713b

afwilkin avatar May 09 '25 20:05 afwilkin

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-may-14-2025-team-sync-and-community-q-a/45516/1

DronecodeBot avatar May 13 '25 03:05 DronecodeBot

We definitely should have holybro 6x and arkv6x logs added to the test matrix. @afwilkin we could cover the holybro 6x and Ark does their own internal testing.

dirksavage88 avatar May 14 '25 15:05 dirksavage88

Agreed

afwilkin avatar May 14 '25 15:05 afwilkin

Starling 2 Max Flight controller: VOXL2 Radio: Doodle Radio Controller: Joystick Position: GPS ESC: VOXL ESC Mini 4-in-1 Battery: 2s 3000mah

Setup QGC v4.4.4 PX4 v1.16.0 (RC)

Manual Modes

Arm Takeoff in Position https://www.loom.com/share/cb0866c0815e4cadb4eb77ca63c625cd?sid=de67d818-5154-410d-86da-0d20336f8c3b https://review.px4.io/plot_app?log=9d49d359-fba2-4663-b90a-449d80b18703

Position Flight Mode https://www.loom.com/share/1db805470a6a45728db6f3755ee81711?sid=f29ad9f9-c215-4602-a317-9e8173157eea https://review.px4.io/plot_app?log=577b840f-c3ef-42fe-bcc7-d5cde14b0c32

Altitude https://www.loom.com/share/973410ad28a14cec8850d229bf850c68?sid=b41712d1-023f-4ef2-974b-1ed5fbba7bf8 https://review.px4.io/plot_app?log=fb255bef-0949-454c-8ade-7d24c50b1e30

Position Flight Mode / Precision Land https://www.loom.com/share/ea83c73f2f514ffd9b7796aff0b2edad?sid=46096409-79c4-4ad6-916e-57b2d1fd02e0 https://review.px4.io/plot_app?log=162e8f7d-2019-47b0-aa60-7c6c221f575a

Notes: It shot straight up when I switched to precision land Issue being tracked here

Autonomous

Upload mission and mission mode https://www.loom.com/share/68544cea286a4ca39210f766e46b9a40?sid=ccd80231-edab-4130-822d-8f2d75459481 https://review.px4.io/plot_app?log=d1323d81-79f3-4ed9-b678-0a754b9f728a

Failsafe's

Lost joystick Failsafe https://www.loom.com/share/944f2256a15e43b99972c175f2ae63f5?sid=3dcd977b-1e49-4fdb-a2fc-178e3e3f5ffd https://review.px4.io/plot_app?log=559300e0-c9de-4377-a683-a49b3f51d1e1

Takeoff in Position / Flip to RTL https://www.loom.com/share/a7011c05b4e04e0b868bc366c56716f9?sid=38e1747c-6f8d-4f03-a109-947471b81252 https://review.px4.io/plot_app?log=ce64e93f-295e-4acf-908f-efc764d65a67

Battery Failsafe https://www.loom.com/share/82b6b571c9314fc0878238b5099b0de3?sid=5493614e-ef05-4f84-8f44-c5dd084d7749 https://review.px4.io/plot_app?log=31142be3-ad19-4350-aad7-9aa45ac37907

Datalink Loss https://www.loom.com/share/d8e6a7ffa0754ada8f81d757d894c12e?sid=054a203c-6f88-4bb0-83be-f22a919e298b https://review.px4.io/plot_app?log=f05e4310-9216-4f76-b7c9-e58ba7fc15c0

tedzaremba avatar May 14 '25 15:05 tedzaremba

Thanks @TeddyZaremba

mrpollo avatar May 14 '25 17:05 mrpollo

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-may-21-2025-team-sync-and-community-q-a/45657/1

DronecodeBot avatar May 20 '25 18:05 DronecodeBot

Flighttesting Pixhawk 6X-RT today

Tests

Manual mode - ok Position mode - ok Mission mode - ok QGC controlled Goto with Orbit - ok Geofence failsafe return mode - ok but different than expected Low battery failsafe return mode - ok

Observations

Magnetometer #1 error constantly. Was not occurring with PX4 1.15 on same setup. Geofence breach behaviour different than with 1.15. Hold/Return happening behind geofence. If I recall correctly in previous PX4 versions Hold/Return happened before reaching Geofence.

Setup:

Pixhawk 6X-RT Hoybro M8N DroneCAN on CAN1 NavQ+ connected via Ethernet (T1ADAPT) to FMU Ethernet port FETTec 45A 4in1 ESC on FMU PWM 1-4 (DSHOT600) Dronebridge on Telem1 FRSky telemetry on Telem2 UWB on Telem3

Logs

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-01 Log https://review.px4.io/plot_app?log=1cf8ef16-869b-41af-bdd5-2014bbf1a6cf

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-02 Log https://review.px4.io/plot_app?log=89203d1a-a277-489f-ad34-826886020c63

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-03 Log https://review.px4.io/plot_app?log=b439b584-a839-44a6-a25f-ab33fef27360

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-04 Log https://review.px4.io/plot_app?log=7b0fe388-0dbe-4db3-ae4b-bac22e60db0b

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-05 Log https://review.px4.io/plot_app?log=e78eb9b8-8b35-49b1-8203-e4af6ebe6c02

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-06 Log https://review.px4.io/plot_app?log=e64c8471-1260-482e-80f3-c192038781a8

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-07 Log https://review.px4.io/plot_app?log=632c9d22-ef67-4ea1-8cbd-fa4bcdda6c4f

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-08 Log https://review.px4.io/plot_app?log=071ff03c-e183-44ae-a8e3-b34811cc0a7b

PX4 1.16.0 RC1 - Pixhawk 6X-RT 20250520-09 Log https://review.px4.io/plot_app?log=a8db85fb-7725-41dc-894e-56a00b278e92

Flights overall: 9 Fligfht time overall: 1 hour 54sec

dk7xe avatar May 20 '25 18:05 dk7xe

Holybro X500 Flight controller: Holybro 6X Radio: Holybro sik telemetry Controller: Radiomaster Pocket (ELRS) Position: Ark GPS ESC: Holybro Battery: 4s 6AH

Setup QGC v5.0 PX4 v1.16 (RC1) w/ rc_common enabled

Manual Modes

Manual Flight Mode https://www.loom.com/share/d8338b21bd5c42f88ef8ed5b86afb2ab?sid=0a594bd1-96a2-4226-afc4-d7ffa5f51d0d https://logs.px4.io/plot_app?log=644e1285-88d2-4274-b995-fd530b7c1a2b

Altitude Flight Mode https://www.loom.com/share/a5af5bc7956e4f51b638672af927b1f8?sid=17a836a5-39ce-482a-a826-51303ca6c876 https://logs.px4.io/plot_app?log=8f74689c-a091-4494-9e1b-db47ba187143

Position Flight Mode https://www.loom.com/share/c39e8c13c72248168fc36aca43ac4d5a?sid=347c6494-4d03-4214-ad5e-3ea18ed2c48f https://logs.px4.io/plot_app?log=f2aea0fd-66ed-4506-8420-e56cc073a800

Autonomous

takeoff/land https://www.loom.com/share/a542c996ab294c73bd895dcacaf4f706?sid=d42218c6-656b-4ed9-b56e-df4bf330352e https://logs.px4.io/plot_app?log=5a1959ea-efef-4749-85a2-07f79905ec94

mission mode https://www.loom.com/share/11c70095b1f944af937ae123b9349c20?sid=068a4cee-6723-4044-92d4-bc5397a01987 https://logs.px4.io/plot_app?log=4a07f9e5-9d80-498f-b6b6-738e850a5c83

Failsafe

Datalink Loss https://www.loom.com/share/fa127c7171ec434d92b9134a62c984d9?sid=601b87c1-4316-4d4c-aae4-6d1cce1bcbb1 https://logs.px4.io/plot_app?log=3dccbe33-6d77-462a-8c3b-a0de45e78252

RC Loss https://www.loom.com/share/abcc4123804e4b95b543a5637e67517f?sid=10e855eb-cb13-4b32-8a57-d9c7d1267033 https://logs.px4.io/plot_app?log=9255d9b3-0e96-4afd-9e87-ddf9509acc0c

Battery Failsafe https://www.loom.com/share/27972729ebec44b7ae901cab02e3ea41?sid=40eeddee-f6ce-4014-bb02-e2e7998673ee https://logs.px4.io/plot_app?log=3bdc98b4-2f53-4237-8f51-e71a9f870913

Notes: Unplugging the holybro telem module resulted in QGC crashing (@DonLakeFlyer)

dirksavage88 avatar May 21 '25 14:05 dirksavage88

Flight Testing of the Cube Orange Plus

Tests Manual mode - ok Position mode - nope Mission mode - nope

Observations Was having issues with the GPS not being seen, I replaced with an old BN220, but still did not see GPS. I was able to test Attitude and Manual flight. But under the default settings the throttle is a bit abrupt after crossing mid stick. Not having some fine control at that point or at least some longer ramp up would have helped me not bobble the takeoff.

I also did notice that there was no defaulted battery cell count, and when i did choose 4 cell, I had to re calc the voltage divider before it was right and let me arm.

Will update with more information on the GPS used.

Setup: Holybro X500 v2 Flight controller: Cube Orange Plus Radio: Sik telemetry 915mhz, IRC Ghost Controller: Radiomaster Tx/Ghost Module Position: N/A ESC: dshot600 Battery: 4s 3300mah Setup

QGC: v4.4.4 PX4: v1.16.0-rc1 *

FETTec 45A 4in1 ESC on FMU PWM 1-4 (DSHOT600) SIk Telem on Telem1 Ghost Rxon SBus GPS on GPS 2

Logs

https://review.px4.io/plot_app?log=16c369fb-8907-4b33-af2c-82787a2eb407

Video

Will follow once I have better bandwidth connection

DroneWuKong avatar May 22 '25 03:05 DroneWuKong

@DroneWuKong is this the first time you fly this vehicle in its current configuration? Was GPS working before?

mrpollo avatar May 22 '25 16:05 mrpollo

Reported by @julianoes, no logs shared

Just following up on v1.16 testing:

I've set up:

  • a 650 quad frame (this [Hexsoon one](https://irlock.com/products/hexsoon-edu-650-teardrop-> energy-saving-aerodynamic-rotorcraft-v2))
  • with Cube Orange+
  • Here3 GPS/mag (via DroneCAN)
  • Herelink (using Telem1 and SBUS), using QGC v4.4.3 sideloaded
  • flashed PX4 from the release/1.16 branch (1ed406c4)

This flew fine, no issues for me.

I just had to tune down attitude roll/pitch slightly from the default 4001 frame:

  • MC_ROLL_P: 6.5 -> 5
  • MC_PITCH_P: 6.5 -> 5

mrpollo avatar May 22 '25 16:05 mrpollo

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-2025-05-28/45749/1

DronecodeBot avatar May 28 '25 00:05 DronecodeBot

Tested PX4 1.16 RC0 on a Sonicmodel Skyhunter with NXP MR-VMU-RT1176 (Pixhawk 6X-RT equivalent) Three flights with over 32min flighttime overall.

Stabilized, mission mode, Loiter, RTL, Geofence has been tested.

GPD05 - Skyhunter w NXP VMU-RT1176 PX4 1.16 RC0 - F1 https://logs.px4.io/plot_app?log=4fe84c0d-f473-4a66-b501-5f8aec7e1714 Flight time 0:15:45 Airspeed sensor failed after takeoff Power module failed after 2min MAG1 timeout after 3min Video: https://youtu.be/roApIy_6-zg

GPD05 - Skyhunter w NXP VMU-RT1176 PX4 1.16 RC0 - F2 https://logs.px4.io/plot_app?log=da692222-e3ec-4453-86b1-11105a24a757 Flight time 0:10:33 Airspeed sensor failed 20sec after takeoff MAG1 timeout after 3min Power module failed after 3min

GPD05 - Skyhunter w NXP VMU-RT1176 PX4 1.16 RC0 - F3 https://logs.px4.io/plot_app?log=ced32f14-cd64-4f2f-a54a-91ee1845448c Flight time 0:07:24 Airspeed sensor failed 150sec after takeoff

dk7xe avatar May 31 '25 20:05 dk7xe

@sfuhrer can you please take a look at the errors reported by @dk7xe on fixed wing? There's also another issue with dshot on VTOL that we should take a look at, I'll tag you on that one.

mrpollo avatar May 31 '25 21:05 mrpollo

Thanks for running these test flights!

airspeed failure

There is a very large error (scale error) on the airspeed data, likely due to placement of the pitot in proximity to the fuselage/wing. PX4 is learning the correct scale factor over time (see attached screenshot), but it takes a while and at the end of the flight, the value is only stored if the airspeed sensor is not declread invalid (which was the case here). --> set ASPD_SCALE_1 to 1.7 for this plane.

Image

Image

mag1 timeout

The mag1 data times out indeed, then comes back for a little while before timing out again. In my experience that usually points to a wiring issue. Image

power module timeout

The power module times out at the same time as the mag1, so likely related (wiring? power?) Image

Is there anything else you'd want me to have a look in the testing report?

sfuhrer avatar Jun 02 '25 09:06 sfuhrer

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-june-3-2025-team-sync-and-community-q-a/45866/1

DronecodeBot avatar Jun 04 '25 01:06 DronecodeBot