Pixhawk 1 with Ardusub 4.2dev

I am using Ardusub 4.2dev firmware on Pixhawk 1. However, the depth pressure sensor (bar30) doesn’t seem to be registering. I have changed the BARO_PROBE_EXT to 768 but the SCALED_PRESSURE2 doesn’t show up in the qGC Mavlink Inspector. How can I make 4.2dev register the bar30 sensor with the Pixhawk 1?

Thanks in advance for your help.

Tim

Hi @TMJ,

I just installed 4.2.0-dev, set BARO_PROBE_EXT to 768, rebooted the vehicle, and my Bar30 was registering fine. Perhaps try rebooting, if you haven’t already? :slight_smile:

Thanks Eliot. This was for the Pixhawk 1?

Yes :slight_smile:

So I’ve tried rebooting and I’ve tried two different Pixhawk 1’s and two different Bar30 sensors.

Is there another parameter that I need to change?

Here are the baro related parameters I’m using:

1 1 BARO1_DEVID 721186 6
1 1 BARO1_GND_PRESS 98664.031250000000000000 9
1 1 BARO1_WCF_ENABLE 0 2
1 1 BARO2_DEVID 0 6
1 1 BARO2_GND_PRESS 102282.000000000000000000 9
1 1 BARO2_WCF_ENABLE 0 2
1 1 BARO3_DEVID 0 6
1 1 BARO3_GND_PRESS 0.000000000000000000 9
1 1 BARO3_WCF_ENABLE 0 2
1 1 BARO_ALT_OFFSET 0.000000000000000000 9
1 1 BARO_EXT_BUS 1 2
1 1 BARO_FLTR_RNG 0 2
1 1 BARO_GND_TEMP 0.000000000000000000 9
1 1 BARO_PRIMARY 0 2
1 1 BARO_PROBE_EXT 768 6
1 1 BARO_SPEC_GRAV 1.000000000000000000 9

My BARO_PRIMARY is set to 1 (2ndBaro in QGC). Everything else is the same besides the calibration values :slight_smile:

Hi Eliot,

If I try to change BARO_PRIMARY from 0 to 1, save and reboot in QGC, it shows BARO_PRIMARY=0 again. If I manually change the param file value of BARO_PRIMARY to 1, upload it and reboot, it shows BARO_PRIMARY=0 again.

Any thoughts on how to permanently change BARO_PRIMARY to a value of 1? I suspect that may be why my Pixkhawk 1 is not registering the Bar30.

Thanks,
Tim

My suspicion here is that it’s not allowing you to change the value because the sensor is not being detected, rather than the other way around. That said, I’m not sure why the sensor wouldn’t be being detected, so I’ve brought this up internally in case someone else has some idea.

Does it work properly when using the stable or beta firmwares instead of the development one?

Eliot seems to be on the right track. the fact the BARO2_DEVID is zero implies that there’s no second sensor detected. are you using regular wire lengths?

1 Like

Yes it does appear to be recognized with the stable version.

Yes I am using the standard length that comes with the Baro30.