@rmackay9 wrote:

Rover-3.2.1-rc1 is now available for beta testing through the Mission Planner's (and perhaps other GCSs) beta firmware link.

This release is a relatively minor change from the official Rover-3.2.0 release including just one fix (ReleaseNotes):

• Fix mode switch logic to allow Auto, Guided, RTL, SmartRTL, Steering, Acro using non-GPS navigation (i.e. wheel encoders, visual odometry)

So, for those who were trying non-GPS navigation (i.e. GPS disabled, using wheel encoders or visual odometry) but were seeing the dreaded, "Mode change Failed" message, this release could help. You will find that to arm in these autonomous modes you'll need to uncheck the ARMING_CHECK parameter's GPS box... or you can arm in Manual or Hold mode and then switch into the autonomous modes and it should work.

All beta testing people can do is greatly appreciated.

If no significant issues appear, we will make this the official release in about a week.

Thanks for your help!

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@lovnajagode wrote:

Hi everyone,

I'm trying to build a rover (Lynxmotion A4WD1 v2 Robot) with Radiolink Pixhawk, ArduRover and L298N H Bridge. I'm not sure is it possible to interface Pixhawk with L298N H Bridge and how to do it. L298N H Bridge is basically Arduino motor controller that can control two or four (interconnected 2+2) motors. One motor (or set of two motors) is controlled with two signals ("10" forward, "01" reverse, "00" break). This is easily interfaced with Arduino and Raspberry Pi, but I have some doubts on how to connect it to Pixhawk. There are four wires to connect, so do I just connect them to four signal connectors on Pixhawk (such is displayed in http://ardupilot.org/rover/docs/common-pixhawk-wiring-and-quick-start.html)? Or I need different controller? Until today, I saw configurations with only two wires connected to Pixhawk, and this is why I'm confused. Can Pixhawk generate PWM signals?
Btw, Motors on Lynxmotion rover are 12V DC motors.

I hope someone will have some advice.

Thanks in advance,

Lov

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@maxbirley wrote:

Hi all

I am using FW 3.2.0 rc3 on a large skid steer chassis with a genuine pixhawk 1
For GPS I am using a ublox c94-M8P rtk evaluation board. The c94 does not have a built in compass so the heading info is coming from the internal compass of the pixhawk. This seems to be unreliable so I want to disable the internal compass and add a stand alone external compass to the pixhawk.

I am also migrating to a pixhawk 2 in the next few weeks. So I would like solution should be able to work with the pixhawk 2 as well.

I do have a very fancy and expensive standalone compass module from Sparkfun ie the HMC6343. I would love for the pixhawk to use this. It communicates on I2C. Does anyone know if the FW will work with this unit? I do not just want to plug it in an see as it is rather expensive.

If not what is the very best independent compass that I can connect to the I2c buss of the Pixhawk and keep the RTK gps data stream as well

I assume that all compasses will communicate on the I2C buss.

regards
Max

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@rmackay9 wrote:

Rover-3.2.1 has been released as the official default firmware and can be downloaded through the Mission Planner and other Ground Stations.

As mentioned in the beta release announcement this includes only a single change (ReleaseNotes):

• Fix mode switch logic to allow Auto, Guided, RTL, SmartRTL, Steering, Acro using non-GPS navigation (i.e. wheel encoders, visual odometry)

So, for those who were trying non-GPS navigation (i.e. GPS disabled, using wheel encoders or visual odometry) but were seeing the dreaded, "Mode change Failed" message, this should help. You will find that to arm in these autonomous modes you'll need to uncheck the ARMING_CHECK parameter's GPS box... or you can arm in Manual or Hold mode and then switch into the autonomous modes and it should work.

Thanks to those who tested this beta release!

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@Fellowhawk wrote:

Using latest beta version on rover with Here+ RTK, Sabertooth 2 x 25. Servo function rc1 = 73 servo function rc3=74. In manual mode, it will have crisp left and right turning that stops immediately when releasing joystick to center. In throttle forward or reverse, it seems to slowly build up to max speed but does not have any braking and will continue to roll past intended target. Any ideas on how to make the throttle response as responsive as turning? I've played with transmitter exponential and linear responses and no change in throttle responsiveness. Thanks!

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@warp2 wrote:

I have a boat with skid steering configuration running rover 3.2. I was trying loiter_time and loiter_unlim and was expecting the boat drifting out of WP_RADIUS (0.5m) and then engaged the motors and returning to the loiter position. Instead the boat was constantly circling the WP (see picture).

loiter_time.jpg1034x784 165 KB

Can someone point me to the right configuration or give me a hint what I may do wrong?
Thanks a lot

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@AnJu wrote:

Hello, hope i am in the correct section. I have a problem with no servo(signal) output.To me it looks related to version as it outputs normally on 3.12 with thesame settings. I connect ch3 an ch1 to sabretooth. The mission planner shows nothing on servo output page when on 3.2 When on 3.12 it shows green bars on all channels, and outputing correct. Maybe interesting thing: in servo output page on 3.12 - min, max and trim values are greyed out at 800, while in 3.2 values are different and editable. Thanks for any help,
Anton

Edited:Installed latest 3.21 and all seems to be ok aggain., thanks for upgrade.

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@Paul_461 wrote:

We have setup a Windows 10 PC running QGroundControl 3.2.4 connected by Ethernet to a Raspberry Pi and a Pixhawk connect via usb to the RPI folowing the instructions at https://www.ardusub.com/resources/community.html. QGroundControl connects to the Pixhawk, I can calibrate sensor and so on but I am not able to stream video from a webcam connect to the RPI. When I run lsusb I get the following result:
pi@raspberrypi:~ $ lsusb
Bus 001 Device 007: ID f007:a999
Bus 001 Device 006: ID 1a40:0101 Terminus Technology Inc. 4-Port HUB
Bus 001 Device 009: ID 1a2c:2124 China Resource Semico Co., Ltd
Bus 001 Device 008: ID 26ac:0011
Bus 001 Device 004: ID 046d:0809 Logitech, Inc. Webcam Pro 9000
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter
Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

I have 2 cameras connected the China Resource Semico Co., Ltd and the Logitech, Inc. Webcam Pro 9000 but when I run: raspivid -n -fl -w 1280 -h 720 -b 10000000 -fps 30 -t 0 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600

I get the following error:
mmal: mmal_vc_component_create: failed to create component 'vc.ril.camera' (1:ENOMEM)
mmal: mmal_component_create_core: could not create component 'vc.ril.camera' (1)
mmal: Failed to create camera component
mmal: main: Failed to create camera component
mmal: Camera is not detected. Please check carefully the camera module is installed correctly

Setting pipeline to PAUSED ...
Pipeline is PREROLLING ...
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
Got EOS from element "pipeline0".
Execution ended after 0:00:00.000344632
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

I thinking that the "Camera is not detected" error is a driver issue on the RPI,

I would appreciate any help.

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@azadani wrote:

Hi All,

I'm looking to try to build a robot that will navigate fields accurately while selectively spraying weeds.

The spraying part will be done via switches/relays/solenoids, and doesn't need to be connected to the controller.

The chassis will be a converted 36v mobility scooter, which has some excellent components by the way.

I can fabricate and wire to a very high standard, and have access to good equipment including a reasonably serious 3D printer, but my programming/code skills are non existent.

I'm looking for the best plug and play option, and am considering the Pixhawk 2.1 with the RTK gps.

I'm seeing a second GPS module is required for the base station...is that a second here+, or is it a part that's included in the set?

Does the base station/laptop have to be setup for the entire operation, or can it be switched off and packed up after kick off?

Is the Pixhawk gear worth the spend, or is there a better option that is simpler to use?

Basically what I want to do could be considered similar to an automated electric lawn mower project.

Would appreciate any advice.

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@Json wrote:

I really hope some of you guys can help me out on this, I’m out of ides. Like I said I can’t get any signa out from throttle, in is okay I can calibrate and also under failsafe I can se that the throttle channel works. BUT not output on the “rails” the ESC just beep I have also check with an oscilloscope, no signal. And also in Mission Planner under servo output, no response. Steering works just fine. But if I change to Throttle Left and Throttle Right (skid steering) Nothing works. And yes I have armed the board. And also removed any arm requirements just to bee shore there nothing there.

If I use any other firmware, like Arducoper, Arduplane or even ArduSub it works just fine???

I really can’t figure this out. I have used Arducoper for a long time and never had any problem with that. But now I can’t seem to get Ardurover to work at all, I’m sure I’m missing something but I can’t figure it out myself…

I use a Futaba T8FG with an PWM to PPM converter for the Pixhawk 1 (chines model). And Ardurover 3.2.1. At first I thought it was the converter but I worked with the outer firmware’s. And I also have tried a joystick in joystick mode in mission planner, same result. I have also tried 2 different pixhawk with the same results…

Regards
Jesper

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@sirlordmiste wrote:

I'm part of a team developing an autonomous transatlantic vessel. The primary navigation computer will be a Pixhawk running a modified version of ArduRover (modified to include satellite communications via RockBlock and other additional sensing features).

The code will be kept as standard as possible to take advantage of the great range of features, including standard mission planning (albeit with a rather large WP_RADIUS) and IMU/compass stuff. However, we estimate a mission time of three-six months (possibly longer).

I'm looking for information as to how Ardupilot/Rover responds to being run for such a long period of time. For instance, it is my understand that the internal millis() clock will roll over after approximately 49 days. Does anyone know if the core code is able to cope with this?

Are there any other issues I may run into, for example compass/IMU drift?

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@RoboBill wrote:

I set up my POZYX system according to http://ardupilot.org/copter/docs/common-pozyx.html except I placed my anchors in a trapazoidal shape. The YAW is set per the instructions.

But on the MP my rover tracks backwards/incorrectly/weird. So to make my rover track almost correctly, I've made the following two changes to original POZYX Arduino Pixhawk sketch:

1) Original Code

// send all beacon config to ardupilot
void send_beacon_config()
{
beacon_config_msg msg;
msg.info.beacon_count = NUM_ANCHORS;
for (uint8_t i=0; i<NUM_ANCHORS; i++) {
msg.info.beacon_id = i;
msg.info.x = anchors_x[i];
msg.info.y = anchors_y[i];
msg.info.z = heights[i];
send_message(MSGID_BEACON_CONFIG, sizeof(msg.buf), msg.buf);
}
Serial.println("Sent anchor info");
}

My modifications: I switched the X & Y data

// send all beacon config to ardupilot
void send_beacon_config()
{
beacon_config_msg msg;
msg.info.beacon_count = NUM_ANCHORS;
for (uint8_t i=0; i<NUM_ANCHORS; i++) {
msg.info.beacon_id = i;
msg.info.x = anchors_y[i];
msg.info.y = anchors_x[i];
msg.info.z = heights[i];
send_message(MSGID_BEACON_CONFIG, sizeof(msg.buf), msg.buf);
}
Serial.println("Sent anchor info");
}

2) I did the same for the following:

// send vehicle's position to ardupilot
void send_vehicle_position(coordinates_t& position, pos_error_t& pos_error)
{
vehicle_position_msg msg;
// sanity check position
if (position.x == 0 || position.y == 0) {
return;
}
msg.info.x = position.y;
msg.info.y = position.x;
//msg.info.z = position.z;
msg.info.z = 0;
msg.info.position_error = pos_error.xy;
send_message(MSGID_POSITION, sizeof(msg.buf), msg.buf);
}

Is this something that is fixable in the MP coding or ????

Thanks

RoboBill

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@Gerber wrote:

Hi,

I have some issues tuning my Rover, using 3.2.0 firmware.

In auto mode the (skidsteer) rover the desired PID values are very nervous. this is strange since I have a negative cross track error of about a 1.5 meters negative. I would expect that my rover would turn into one direction, in order to eliminate the cross track error.

NervousPID.jpg1440x452 83.5 KB

Why is the PID acting very nervous, while expecting a sharp/clear turn to eliminate the big cross track error?

Thanks.

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@amin wrote:

Hi everybody
I searched about what I want to discuss both on this forum and the internet. The results are that I have not got whatever I needed so far.
I simply want to convert Magnetometer data (MagX, MagY, MagZ) to rotation (angles: roll, yaw, pitch) or angular velocity. I will need all calculations in Matlab. I prefer not using another sensor`s data (like accelerometer) but if no other way, then that is fine.
Thank you

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@zacl79 wrote:

Hi guys,

I have restarted a wee project that got put on the back burner a while ago.

I have a kontiki, that has a servo, GPS unit and compass.

Im pretty sure last time I was looking at my code I had got to the point where I had all my navigational aspects working.
I calculated a waypoint 100m offshore 90 degrees to the beach face using GPS and some spherical earth calcs.

I call my compass to calculate the current bearing the kontiki is travelling at.
Then I I call my GPS and compare the start position with the current position, calculate a heading to the original waypoint and compare is to my current heading.

The difference in the hearing to required bearing is feed to the servo to adjust the rudder accordingly.
Well that's my thinking anyway.

I am a novice programmer in arduino, but believe i require a PID loop to control everything.

It would be amazing if someone could point me in the right direction, and how to structure all the code so it can update and check the heading to bearing every 20s or so

Cheers,

Zac

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@Andres wrote:

Hello,

I was wondering if exists the possibility to connect two brushless motors (2212 950kv) in my tank project controlled by ESCs not like servos.
What is the wiring to find the solution and parameters to change in ardurover 3.2.1

Thanks in advance.

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@timworley wrote:

I am having problems getting the Skid Steer to work. I can set the servos 1 and 3 to left and right motor throttle and it works in Auto mode but not in manual mode. In order for Skid Steer to work in Manual mode I have to change servos 1 and 3 to correspond to the correct RC channel. This will not let the Auto mode work for Autonomous Missions.

For some reason when I set servos 1 and 3 to Left and Right Motor Throttle and place the rover in Manual mode the RC control goes back to a conventional "Throttle on the left stick and steering on the right" mode instead of 2 paddle steering. I am still working on it but any help would be awesome.

PS I have Pilot-Steering set to for 2 paddle control.

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@pica wrote:

Hi,

I'm very new in Ardurover, but have some experiments in Arducopter with APM and Pixhawk.

My problem is very simple : i would like to have live information about the distance the rover does with no GPS.
I'm using a 6x6 Wild Thumper underground for photos shooting and inspection.

• The Wheel encoder guide of Ardurover explains how to connect to a Pixhawk on the AUX output (http://ardupilot.org/copter/docs/common-wheel-encoder.html ).
  On APM, there is no EKF, so the parameters to modify to use the Wheel encoder are not present... but I think we don't need EKF to say how many rotations a Wheel made...?

• On PixFalcon and Mini Pixhawk, there is no AUX output, so impossible to connect the two wheels encoders?

The only solution would be the "big" PixHawk and Dropix to use the EKF, and no way to connect encoder on APM to know the distance (without position)

Thanks for your response

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@Sazabi wrote:

Hi, everyone. Just few questions about skid steer setup, because I'm not sure I'm doing it right.
What I want: I want to control my tank style platform in a tanks style way. One rc control stick controls left track, another stick controls right track. My setup: RC control unit (planty of channels), tank-style platform.
I've made setup according to Rover 3.2 guide for skid steering. Param PILOT_STEER_TYPE set to 1, SERVO1_FUNCTION set to 73, SERVO3_FUNCTION set to 74.
What I got with such params:
- (I'm using servos for testing) left stick all way down, right stick in middle, ch1out 1500, ch3out 1500.
- both stick in middle, ch1out 1400, ch3out 1800.
- left stick all way up, right stick in middle, ch1out 1360, ch3out 1900.
- right stick all way up, left stick in middle, ch1out 1900, ch3out 1580.
- right stick all way down, left stick in middle, ch1out 1100, ch3out 1740. With a sudden peak on both channels to opposite side.
So both servos react on each control stick. And as I understand tank control, each stick for each servo, right?
I know it's 3.2 thread, but I've tried 3.1.1 also and it behaves way better.
I put both params SKID_STEER_IN and SKID_STEER_OUT to 1 (first for RC tank control, second for tank style platform). But doesnt seems like SKID_STEER_IN affects on anything.
With this params control is way more adequate than in 3.2. Ranges are much bigger. No sudden peak jumps in signal. Here's what I got:
- left stick all way down, right stick in middle, ch1out 1100, ch3out 1100.
- both stick in middle, ch1out 1500, ch3out 1500.
- left stick all way up, right stick in middle, ch1out 1900, ch3out 1900.
- right stick all way up, left stick in middle, ch1out 1750, ch3out 1240.
- right stick all way down, left stick in middle, ch1out 1240, ch3out 1750.
So yes, it control, but not the way tank controls:) Still, one stick controlls throttle of both sides, and another just accelerate/decelerate motors for turns.
Is there a mixer somewhere I am missing to change? My RC has no mixers, each channel in independent.

Addition. I've missed, that only one SKID param should be set. So now it works as intended. Anyway, 3.2.0 FW doesn't work as it should with a skid control.

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@Chinese66 wrote:

Anyone interested in balancing a car? Has anyone heard of ArduRoller? This is the project web site:
https://makezine.com/projects/arduroller-self-balancing-robot
It used apm2.6 to make a balance car, which I was very interested in, and I tried and succeeded. It can balance, forward, back, turn. I don't have GPS now, so I can't try AUTO mode. This is the wiring diagram, and I made it based on this.

B3C36EAD4472C3F7F693675D8765FC1E.jpg600x691 75.9 KB

17B0938CE229769FD58161ECFF89313B.jpg720x960 82 KB

ED153D387F7F7BEDFAF77B3478768D67.jpg1920x1440 218 KB

As far as I know, the author USES ardupiot code base about three years ago, and he joined the arduroller section.

Now I wonder why pixhawk doesn't support balancing cars? After the car can balance and steer, its control is no different from tank_rover.
And the latest ardurover has already supported the AB phase encoder. It looks like we can use pixhawk instead of apm2.6 and arduino mega328.
I wonder if there is a plan for a balanced car?
Thanks!

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