"[uavcan:125:vehicle_imu] Gyro 0 clipping, not safe to fly!" | "gyro 0 (2490C] 39.0 degC" [ARKFlow | PX4 1.14.0 | Quadcopter

MuhammadBilal1 commented 1 month ago

Describe the bug

Hi, I am getting the issue of "[uavcan:125:vehicle_imu] Gyro 0 clipping, not safe to fly!" | "gyro 0 (2490C] 39.0 degC" randomly in different flights. I found these messages in the "Show additional data" portion of the PX4 "Flight Review". ARKFlow is mounted at the belly of the drone.

What could be the reason of this and what is the meaning of these messages?

Here are the details of the setup:

Pixhawk 6C
PX4 1.14.0
ARKFlow
No GPS
Indoor flight
Position/Altitude flight modes
Self created airframe

Problem: Usually am getting the problem of drone not holding the position while using the ARKFlow.

To Reproduce

Use the ARKFlow module.

Expected behavior

Stable flight with drone holding the position indoor.

Screenshot / Media

Flight Log

Flight Log # 1: 1 minute flight: (Gyro 0 clipping, not safe to fly! | gyro 0 (2490C] 37.5 degC) https://review.px4.io/plot_app?log=4e2db729-de17-4946-a805-1b9a96483216

Flight Log # 2: 54 seconds flight: (Gyro 0 clipping, not safe to fly! | gyro 0 (2490C] 39 degC) https://review.px4.io/plot_app?log=0f4f591b-7c2d-4dc8-99e4-864106feb958

Flight Log # 3: 3 minutes 14 seconds flight: (Gyro 0 clipping, not safe to fly! | gyro 0 (2490C] 44.0 degC) https://review.px4.io/plot_app?log=fc2fbd08-e9bd-463d-996a-6abb42799275

Flight Log # 4: 7 minutes 30 seconds (Gyro 0 clipping, not safe to fly! | gyro 0 (2490C] 39.1 degC) https://review.px4.io/plot_app?log=de3e408d-0347-4c43-af55-f8aca5856e4f

Software Version

PX4 1.14.0

Flight controller

Pixhawk 6C

Vehicle type

Multicopter

How are the different components wired up (including port information)

ARKFlow is installed and configured in the drone at CAN port according to the PX4 ARKFlow guide.

Additional context

No response

MuhammadBilal1 commented 1 month ago

@bresch I saw one of your comment here about the "Accelerometer clipping". Is my problem also similar to that?

@AlexKlimaj I believe this issue is related to the ARKFlow, can you please help me here!

AlexKlimaj commented 1 month ago

Build and flash the latest main ARK Flow firmware. The clipping warning has been silenced.

https://github.com/PX4/PX4-Autopilot/pull/22441

MuhammadBilal1 commented 1 month ago

Build and flash the latest main ARK Flow firmware. The clipping warning has been silenced.

22441

There will be any impact on the flight due to this clipping or the temperature?

AlexKlimaj commented 1 month ago

The temperature message is just telling you the temperature at which the auto calibration ran.

Gyro clipping isn't great on the ARK Flow since the gyro is used to compensate the optical flow data.

MuhammadBilal1 commented 1 month ago

The temperature message is just telling you the temperature at which the auto calibration ran.

Gyro clipping isn't great on the ARK Flow since the gyro is used to compensate the optical flow data.

Ok. Thank you for the clarification.

But, I am continously losing the altitude during the hover and sometimes the loss of position as well. Here are the logs of the autonomous flights:

Flight log # 1: (Offboard mode) https://review.px4.io/plot_app?log=a54a7d4a-98ef-4560-9491-c6df4d19268c

Flight log # 2: (Offboard mode) https://review.px4.io/plot_app?log=defb2b4a-4902-4705-9dbb-a8d7f1ff9c42

Flight log # 3: (Position mode) https://review.px4.io/plot_app?log=77e8e481-8ac7-4aec-808c-7150bba2b82b

Flight log # 4: (Offboard mode) https://review.px4.io/plot_app?log=fdf6593a-77e8-4d63-8855-72acb42fdefc

AlexKlimaj commented 1 month ago

Try 1.15 beta on your flight controller. See MPC_ALT_MODE param.

MuhammadBilal1 commented 1 month ago