Hello,

I am in the planning stages of automating a mower for my property. I’ve spent hours looking for the answer in the wiki and on these forums.

I have a RC brush cutter on its way from China right now (I am in Ohio). I am familiar with ArduPilot and wrote this article which has been in the documentation for years and helped out a lot of other newbies, but I am new to Rover.

I need centimeter-accurate GPS at my property. There isn’t a base station even in Ohio on the rtk2go network that I can see. I’ve contacted ODOT to see if I can access their RTK network, but I doubt that will happen.

Questions:

1. How do I see a map of free base stations (other than rtk2go) near me? Am I missing something? It doesn’t look like NTRIP is a viable option for me.
2. If there are no base stations close enough for the accuracy I need, will I need three receivers to set up a base station on my property and two for the rover (f+1 for the roving base station on the vehicle)?

I am south of Chillicothe, OH (45601) for reference.

I appreciate any assistance!

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I have a Blueboat running ardurover 4.5.2 and latest BlueOS release and would like to control the PWM relay in the following link using 2 joystick buttons. All this through QGC.

PWM relay

QGC do not allow for many solution to my problem and I try to find a workaround but it need to be in QGC environnement. The relay trigger when it received a PWM > 1600 us and turn off below 1400 us. I would like to implement a 2 buttons solution. 1 button that I trim to > 1600 and the other one below 1400. Then assign this to a function like gimbal or whatever available in QGC to allocate to the joystick buttons.
GPIO and relay do not work for me because QGC combined to ardurover do not offer a toggle relay option at the moment. So the GPIO pin can only be on or off by default…

Any suggestion to make the PWM work is welcomed

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Why QGC not show the speed from wheel encoder?

I know GPS is NOT fixed. But I have an wheel encoder, and It’s definitly working.

Any configuration I missed?

ArduRover 4.5.2 Rpanion 4G LTE Neighborhood Stroll

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Hello everyone.

I am working on a Rover (car steering), I can force arming but I have no GPS position, unhealthy AHRS and a battery error message… I am working with a cubeorange, my telemetry is linked to the port TELEM1, my GPS H-RTK F9P linked to the port GPS 2.

I let you my parameters files here :

my_rover_param.param (14.3 KB)

If someone knows where I have to change my parameters to be able to have a good configuration of my rover, please help me

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Hello evryone,

I work on a Rover and I control it as a steering car, but when we disarm the throttle I would like to disarm the ground steering to. How can I do please ?

Bc, currently my rover turn on itself when disarm if I sent him a steering command

Thanks for the help you will give me

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How do I make a simple relay control in 4.5?

I have a signal (its a switch on my remote) on RC5 how do I configure it to control a output example M6 on my CUAV X7+ autopilot?

The output M6 should pull to GND so it can trigger my relay.

I don’t get it to work and all info online is for version 4.2 where configs where differently.

https://ardupilot.org/copter/docs/common-cuav-x7-family-overview.html

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I do apologize in advance if I’m writing in the wrong sub-category but i was unable to find a better one.

I want to experiment with rovers and I’m putting together a simple 2ch boat.

Considering the “simple task” I decided to recover from the museum an old VRbrain 5.2.

To add a twist, I was going to buy a CAN node in order to expand the today limited capability of the board.

I went to build a custom firmware but I always have the following error:

In file included from …/build_src/libraries/AP_Compass/AP_Compass_DroneCAN.cpp:16:
…/build_src/libraries/AP_Compass/AP_Compass_DroneCAN.h:13:36: error: expected ‘)’ before '’ token
13 | AP_Compass_DroneCAN(AP_DroneCAN ap_dronecan, uint32_t devid);
| ~ ^
| )
compilation terminated due to -Wfatal-errors.

Waf: Leaving directory `/mnt/volume_nyc3_01/custom/base/tmp/rover:VRBrain-v52:548b0b2c3260cd0cff42e2093537066431a3620b:63bab63712b30dce93444a3f1fdb41d8/VRBrain-v52’
Build failed
→ task in ‘objs/AP_Compass’ failed (exit status 1):
{task 139633786924368: cxx AP_Compass_DroneCAN.cpp → AP_Compass_DroneCAN.cpp.0.o}
(run with -v to display more information)
done build

BUILD_FINISHED

What I’m doing wrong?

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Hi,
Building a newer, 300kg mower.
Looking for an easy way to " Jog " the machine around the workshop without firing up the normal ground control stations, etc.
I have a simple (2nd) RC controller that looks the part - its 8 channel PWM (not ppm) output.

**Question - will the following scripting (with a bit of control logic) work for forward/backward control on our skid steer mower? any gotchas? ** - TIA

local RC4 = rc:get_channel(4)
function update()
   -- mirror RC1 onto RC4
   rc1_input = rc:get_pwm(1)
   RC4:set_override(rc1_input)
   return update, 10
end

from script Scripting/examples/RC_override.lua

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Pivot turns work really well on my mower, it stops right on top of the waypoint and performs a perfect pivot turn towards the next waypoint BUT it then pulls away at an angle, sometimes up to 45 degrees, before correcting itself and heading for the next waypoint.

Looking at the graph of the servo outputs (and by watching the mower wheels) it’s pretty clear what is happening. When the pivot turn completes the servo for the reversing wheel is at a much lower value than the one for the forward rotating wheel and it takes a while for it to catch up. This means that the wheel which was going forward in the turn starts moving first, causing the mower to veer off course.

I tried setting WP_PIVOT_DELAY to see if the 2 servos settled after a while but it just puts a delay in before again setting off at an angle.

Presumably this is not the intended behaviour, what’s required is for both servos to return to neutral on completion of the turn and then ramp up together so the mower sets off in a straight line.

So am I missing a parameter somewhere that will re-centre the servos after a pivot turn?

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hey i was trying to upload the rover firrmware onto stm32f407 but i the build keeps failijng due to missing headers such as endian.h and byteswap.h. this is what my config.log says
Checking for header endian.h
==>
#include <endian.h>

int main(int argc, char **argv) {
(void)argc; (void)argv;
return 0;
}

<==
[1/2] Compiling e[32mbuild/.conf_check_bd391e3de900be89f8f8b822809319e1/test.cppe[0m

[‘/usr/bin/arm-none-eabi-g++’, ‘-Werror=implicit-fallthrough’, ‘-fcheck-new’, ‘-fsingle-precision-constant’, ‘-Wno-psabi’, ‘-std=gnu++11’, ‘-fdata-sections’, ‘-ffunction-sections’, ‘-fno-exceptions’, ‘-fsigned-char’, ‘-Wall’, ‘-Wextra’, ‘-Wpointer-arith’, ‘-Wno-unused-parameter’, ‘-Wno-missing-field-initializers’, ‘-Wno-reorder’, ‘-Wno-redundant-decls’, ‘-Wno-unknown-pragmas’, ‘-Wno-expansion-to-defined’, ‘-Werror=cast-align’, ‘-Werror=attributes’, ‘-Werror=format-security’, ‘-Werror=format-extra-args’, ‘-Werror=enum-compare’, ‘-Werror=format’, ‘-Werror=array-bounds’, ‘-Werror=uninitialized’, ‘-Werror=init-self’, ‘-Werror=narrowing’, ‘-Werror=return-type’, ‘-Werror=switch’, ‘-Werror=sign-compare’, ‘-Werror=type-limits’, ‘-Werror=undef’, ‘-Werror=unused-result’, ‘-Werror=shadow’, ‘-Werror=unused-value’, ‘-Werror=unused-variable’, ‘-Werror=delete-non-virtual-dtor’, ‘-Wfatal-errors’, ‘-Wno-trigraphs’, ‘-Werror=parentheses’, ‘-DARDUPILOT_BUILD’, ‘-Wuninitialized’, ‘-Warray-bounds’, ‘-Wno-format-contains-nul’, ‘-Werror=unused-but-set-variable’, ‘-Werror=suggest-override’, ‘-Werror=implicit-fallthrough’, ‘-Werror=maybe-uninitialized’, ‘-Werror=duplicated-cond’, ‘-Werror=sizeof-pointer-div’, ‘-D__AP_LINE__=LINE’, ‘-ffunction-sections’, ‘-fdata-sections’, ‘-fsigned-char’, ‘-Wall’, ‘-Wextra’, ‘-Werror=format’, ‘-Wpointer-arith’, ‘-Wcast-align’, ‘-Wno-missing-field-initializers’, ‘-Wno-unused-parameter’, ‘-Wno-redundant-decls’, ‘-Wno-unknown-pragmas’, ‘-Wno-trigraphs’, ‘-Werror=shadow’, ‘-Werror=return-type’, ‘-Werror=unused-result’, ‘-Werror=unused-variable’, ‘-Werror=narrowing’, ‘-Werror=attributes’, ‘-Werror=overflow’, ‘-Werror=parentheses’, ‘-Werror=format-extra-args’, ‘-Werror=ignored-qualifiers’, ‘-Werror=undef’, ‘-DARDUPILOT_BUILD’, ‘-Wno-format-contains-nul’, ‘-fsingle-precision-constant’, ‘-mcpu=cortex-m4’, ‘-mfpu=fpv4-sp-d16’, ‘-mfloat-abi=hard’, ‘-DARM_MATH_CM4’, ‘-u_printf_float’, ‘-Wlogical-op’, ‘-Wframe-larger-than=1300’, ‘-Wno-attributes’, ‘-fno-exceptions’, ‘-Wall’, ‘-Wextra’, ‘-Wno-sign-compare’, ‘-Wfloat-equal’, ‘-Wpointer-arith’, ‘-Wmissing-declarations’, ‘-Wno-unused-parameter’, ‘-Werror=array-bounds’, ‘-Wfatal-errors’, ‘-Werror=uninitialized’, ‘-Werror=init-self’, ‘-Werror=unused-but-set-variable’, ‘-Wno-missing-field-initializers’, ‘-Wno-trigraphs’, ‘-fno-strict-aliasing’, ‘-fomit-frame-pointer’, ‘-falign-functions=16’, ‘-ffunction-sections’, ‘-fdata-sections’, ‘-fno-strength-reduce’, ‘-fno-builtin-printf’, ‘-fno-builtin-fprintf’, ‘-fno-builtin-vprintf’, ‘-fno-builtin-vfprintf’, ‘-fno-builtin-puts’, ‘-mno-thumb-interwork’, ‘-mthumb’, ‘–specs=nano.specs’, ‘–specs=nosys.specs’, ‘-D__USE_CMSIS’, ‘-Werror=deprecated-declarations’, ‘-DNDEBUG=1’, ‘-Wno-error=double-promotion’, ‘-Wno-error=missing-declarations’, ‘-Wno-error=float-equal’, ‘-Wno-error=cpp’, ‘-fno-rtti’, ‘-fno-threadsafe-statics’, ‘-MMD’, ‘-Os’, ‘-I…/…/…/…/libraries/AP_GyroFFT/CMSIS_5/include’, ‘-I…/…/…/…/modules/lwip/src/include/compat/posix’, ‘-DAP_CUSTOMCONTROL_ENABLED=0’, ‘-DAP_DDS_ENABLED=0’, ‘-DAP_SCRIPTING_CHECKS=1’, ‘-DAP_SIM_ENABLED=0’, ‘-DCANARD_ENABLE_TAO_OPTION=1’, ‘-DCONFIG_HAL_BOARD=HAL_BOARD_CHIBIOS’, ‘-DENABLE_HEAP=1’, ‘-DENABLE_ONVIF=0’, ‘-DHAVE_STD_NULLPTR_T=0’, ‘-DLUA_32BITS=1’, ‘-DUSE_LIBC_REALLOC=0’, ‘-DWAF_BUILD=1’, ‘-DPYTHONDIR=“/usr/lib/python3/dist-packages”’, ‘-DPYTHONARCHDIR=“/usr/lib/python3/dist-packages”’, ‘-D__STDC_FORMAT_MACROS=1’, ‘-DAP_SIGNED_FIRMWARE=0’, ‘-DHAVE_CMATH_ISFINITE=1’, ‘-DHAVE_CMATH_ISINF=1’, ‘-DHAVE_CMATH_ISNAN=1’, ‘-DNEED_CMATH_ISFINITE_STD_NAMESPACE=1’, ‘-DNEED_CMATH_ISINF_STD_NAMESPACE=1’, ‘-DNEED_CMATH_ISNAN_STD_NAMESPACE=1’, ‘…/…/test.cpp’, ‘-c’, ‘-otest.cpp.1.o’]
err: …/…/test.cpp:1:10: fatal error: endian.h: No such file or directory
1 | #include <endian.h>
| ^~~~~~~~~~
compilation terminated.
the same thing is being shwon for byteswap.h. any idea how to solve this?

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Hi

I have read quite a few of post/blog on Nvidia RedTail project on ardupilot

• Nvidia RedTail up and running
• GSoC 2018: Complex Autonomous Tasks Onboard a UAV using a Monocular Camera - #10 by Voidminded

Any idea on Nvidia RedTail steup for ArduRover?
Or is any guide on setup on using jetson boards for autonomous navigation?

PS: Code here, ArduPilot/redtail

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Hello Community, I recently built and I’m currently using (with great success) an autonomous zero turn mower. (Exmark Lazer Z 52" 30HP).

I was tying to find a way to change the WP Speed via my RC remote during Auto missions.

Any pointers if this is possible, and how it is setup would be greatly appreciated.

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I am trying to test my wheel motors on my rover, with skid steer layout.
When doing the “motor test” the motors work in the forward direction, but when I try a negetive value (reverse), my motor will continue in the same direction.
I cannot seem to get any voltage on my aux output pins on cube orange+.and have the settings in autopilot to brushed motor.
Not sure what to try next.
Any help would be appreciated.

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Hi, I am trying to use optitrack with ArduRover. I followed this tutorial: Optitrack for Non-GPS Navigation — Copter documentation but I was not able to get it to work. I get the following error when I run ‘optitrack start’:

optitrack [Errno 11] Resource temporarily unavailable

I made sure that I can get the optitrack position messages from my laptop using the optitrack client. So I know the network setup is correct. I set my laptop’s IP as the optitrack client IP, and the IP of the computer running optitrack server as the server IP. I also made sure to configure the APM parameters as detailed in the tutorial.

I would really appreciate any help with this

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Hello everyone,

I am planning to build a ArduRover, but I suppose the Rover carry things over 50kg, I think brushless motor cannot do it, so I want to use step motor. but from the document of Ardupilot, all said brushless motor and ESC, can step motor be used with ArduRover?

Thanks.
Chester

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I’ve been recently trying to log some custom data wirelessly via a radio connected to USB with the PC running a pymavlink script that parses the data and puts it into a CSV file. I send my data by using a Lua script with the gcs:send_named_float() command

The issue I’m consistently having is that the data flash log contains around 800 data points, however, the data received in my script is only around 200 data points.

Is this normal behavior when using radios like this? I hypothesize that the messages are coming in too fast from the FC and I can’t parse them fast enough in python, so I tried to change the message interval for command ID #251 (NAMED_VALUE_FLOAT’s ID), but it fails to set the interval and mission planner prints “No ap_message for mavlink id (251)”. Is there a way to change NAMED_VALUE_FLOAT’s message interval?

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Had a good mow day yesterday - this morning, I upgraded to 4.5.3 and get a Prearm Check: Gyros not healthy" error

Callibrate Accel fails at first (level) check
Callibrate Level passes (but no change)
Simple Accel Cal passes (but no change)

Mower is stationary, on level concrete pad (no view of sky).

EK3_IMU_MASK set to 1 (no change) messages:
6/9/2024 9:32:33 AM : PreArm: Gyros not healthy
6/9/2024 9:32:24 AM : SmartRTL deactivated: bad position
6/9/2024 9:32:09 AM : Field Elevation Set: 178m
6/9/2024 9:32:09 AM : AHRS: EKF3 active
6/9/2024 9:32:09 AM : EKF3 IMU0 origin set
6/9/2024 9:32:02 AM : PreArm: Gyros not healthy
6/9/2024 9:32:01 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 9:31:59 AM : EKF3 IMU0 initialised
6/9/2024 9:31:58 AM : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:31:58 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:31:51 AM : EKF3 waiting for GPS config data
6/9/2024 9:31:43 AM : GPS 2: detected as u-blox at 460800 baud
6/9/2024 9:31:43 AM : GPS 1: detected as u-blox at 460800 baud
6/9/2024 9:31:41 AM : EKF3 waiting for GPS config data
6/9/2024 9:31:35 AM : RCOut: PWM:1-16
6/9/2024 9:31:35 AM : AHRS: DCM active
6/9/2024 9:31:35 AM : ArduPilot Ready
6/9/2024 9:31:34 AM : Beginning INS calibration. Do not move vehicle
6/9/2024 9:31:34 AM : Barometer 1 calibration complete
6/9/2024 9:31:32 AM : Calibrating barometer

EK3_IMU_MASK set to 2 messages:
6/9/2024 9:43:08 AM : PreArm: Gyros not healthy
6/9/2024 9:42:59 AM : SmartRTL deactivated: bad position
6/9/2024 9:42:45 AM : Field Elevation Set: 167m
6/9/2024 9:42:45 AM : AHRS: EKF3 active
6/9/2024 9:42:45 AM : EKF3 IMU1 origin set
6/9/2024 9:42:37 AM : PreArm: Gyros not healthy
6/9/2024 9:42:36 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 9:42:34 AM : EKF3 IMU1 initialised
6/9/2024 9:42:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:42:33 AM : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:42:26 AM : EKF3 waiting for GPS config data
6/9/2024 9:42:19 AM : GPS 2: detected as u-blox at 460800 baud
6/9/2024 9:42:19 AM : GPS 1: detected as u-blox at 460800 baud
6/9/2024 9:42:16 AM : EKF3 waiting for GPS config data
6/9/2024 9:42:10 AM : RCOut: PWM:1-16
6/9/2024 9:42:10 AM : AHRS: DCM active
6/9/2024 9:42:10 AM : ArduPilot Ready
6/9/2024 9:42:09 AM : Beginning INS calibration. Do not move vehicle
6/9/2024 9:42:09 AM : Barometer 1 calibration complete
6/9/2024 9:42:07 AM : Calibrating barometer

And back to 0:
6/9/2024 10:08:14 AM : AHRS: EKF3 active
6/9/2024 10:08:14 AM : EKF3 IMU1 origin set
6/9/2024 10:08:14 AM : EKF3 IMU0 origin set
6/9/2024 10:08:07 AM : PreArm: Gyros not healthy
6/9/2024 10:08:06 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:08:06 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:08:04 AM : EKF3 IMU1 initialised
6/9/2024 10:08:04 AM : EKF3 IMU0 initialised

Its interesting that the PreArm error is right after the tilt alignment. My FC is slightly tilted (3deg) from level. So I jacked the mower up to level, and still get the PreArm Gyros not healthy error.

Next, I loaded Copter firmware - no PreArm error except improper frame:

6/9/2024 10:19:22 AM : Frame: UNSUPPORTED
6/9/2024 10:19:22 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:22 AM : RCOut: PWM:1-16
6/9/2024 10:19:22 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:22 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:22 AM : ChibiOS: 6a85082c
6/9/2024 10:19:22 AM : ArduCopter V4.5.3 (ee14ff38)
6/9/2024 10:19:22 AM : Frame: UNSUPPORTED
6/9/2024 10:19:22 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:22 AM : RCOut: PWM:1-16
6/9/2024 10:19:22 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:22 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:22 AM : ChibiOS: 6a85082c
6/9/2024 10:19:22 AM : ArduCopter V4.5.3 (ee14ff38)
6/9/2024 10:19:21 AM : Frame: UNSUPPORTED
6/9/2024 10:19:21 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:21 AM : RCOut: PWM:1-16
6/9/2024 10:19:21 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:21 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:21 AM : ChibiOS: 6a85082c
6/9/2024 10:19:21 AM : ArduCopter V4.5.3 (ee14ff38)

And back to Rover 4.5.3:
6/9/2024 10:29:16 AM : SmartRTL deactivated: bad position
6/9/2024 10:29:01 AM : Field Elevation Set: 190m
6/9/2024 10:29:01 AM : AHRS: EKF3 active
6/9/2024 10:29:01 AM : EKF3 IMU1 origin set
6/9/2024 10:29:01 AM : EKF3 IMU0 origin set
6/9/2024 10:28:54 AM : PreArm: Gyros not healthy
6/9/2024 10:28:53 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:28:53 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:28:51 AM : EKF3 IMU1 initialised
6/9/2024 10:28:51 AM : EKF3 IMU0 initialised

Backed to 4.5.2b (worked fine for me) - no issues with Gyro, but had to do a 3d accel calibration - 4.5.3 was not letting me get past the “level” test:
6/9/2024 10:50:57 AM : AHRS: EKF3 active
6/9/2024 10:50:57 AM : EKF3 IMU1 origin set
6/9/2024 10:50:57 AM : EKF3 IMU0 origin set
6/9/2024 10:50:49 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:50:49 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:50:47 AM : EKF3 IMU1 initialised
6/9/2024 10:50:47 AM : EKF3 IMU0 initialised

Saving my params and going back to 4.5.3 - NO JOY:
6/9/2024 11:00:31 AM : PreArm: Gyros not healthy
6/9/2024 11:00:30 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 11:00:30 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 11:00:28 AM : EKF3 IMU1 initialised
6/9/2024 11:00:28 AM : EKF3 IMU0 initialised

Uploading 4.5.2 stable:
No gyro problem - gonna get some mowing done.
If anyone has a thought, or if I need to upload logs, pls advise.

9JUN24-4.5.2b.param (16.1 KB)

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Hi, I’m contemplating building a rover to autonomously collect dog poo from the backyard and deposit it in the garden. I’m thinking of using Ardupilot Rover and TinyML machine learning video application to identify the poo. I have never built any Ardupilot project before. Is Ardupilot Rover suited to this type of application? Any tips or tricks?

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Cheap sonars have appeared on the market, with a range of up to 6m, the minimum distance is 5 cm. I tested them by outputting data in nmea format (the readings are very accurate, as seen in the photo). These models come out under different names: L041MTW, L042MTW,GL041MT,GL042MT. More features on my Github. These sonars can be used in Sub to avoid obstacles. It can also be output via MAVLINK.

AlksSAV/Sonar-to-i2c-NMEA-: A cheap sonar project for autopilot based on Chinese modules. (github.com)

In the photo, the data is output via nmea 0183

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