Statement for Mini Pix Upgrading the V4.1.0 or above Firmware from ArduPilot

The aircraft that is mounted with the Mini Pix flight controller will appear up and down in altitude when flying in the altitude setting mode if the Mini Pix has upgraded the open-source firmware v4.1 and above from ArduPilot. Because the open-source firmware v4.1 and above from ArduPilot has added a gyroscope configurable fast sampling function, and the fast-sampling rate of the accelerometer MPU6500 on the Mini Pix is mistakenly configured as 1kHz, which actually is 4kHz. As a result, the accelerometer data processing on the Mini Pix is wrong.

Solution:

1. Turn off the fast sampling of the accelerometer, as shown in the following figure:

Click CONFIG in Mission Planner, change the value of "INS_FAST_SAMPLE" to "0", and the fast-sampling function is turned off.

 

2. Upgrade the firmware back to v4.0 or the firmware update before v4.0

Download the v4.0 firmware you need from the ArduPilot website.

Click “Load custom firmware” from Mission Planner and upgrade the firmware you have downloaded.