@micaelkarlsson wrote:
Hi!
My rover begin to work fine now.
Have a few questions.
I cant find following parameters:
LEARN_CH = 6 and CH7_OPTION = 0
How to set ch7 to record a waypoint?I have set pass thru on servo 6 to my camera gimbal and it twitting a little, why?
If I record some waypoints, how do I delete them? Rebbot the Pixhawk?
Posts: 1
Participants: 1
@Mada_Mada wrote:
Hello!
So folks here it is my new ASV built from scratch!
Launching next week…
Specifications:
Length: 5 meters
Beam: 1 meter
Draft: 55 cm
Weight: 220 kg
Hull: Monohull - Honeycomb Sheet with Fibreglass & Epoxy
Design: 8 watertight compartments all filled with foam and sealed
Power: 4 x 100AH SEALED DEEP CYCLE 12V BATTERIES
Solar: 2 x 200W MARINE FLEX SOLAR PANELS
Solar Charger: 2 x 30A MPPT SOLAR CONTROLER
ESC: 4 x ESC
Motor: 2 x 36LBS 12V TROLLING MOTOR (PORT & STBD),
2 x T100 Blue Robotics Thrusters (PORT / STBD)
Rudder: None – Skid Steer
*All systems are split into two completely separate systems for redundancy.AutoPilot: 1 x Pixhawk running ArduRover Software (Config files are attached)
https://drive.google.com/open?id=0BxqG1HHFzW1MaGREYXJ5dEtGY2t6aElXTzFDb1JsZFNVUzVRComms: MAVLink serial connection to Raspberry PI with Rock Block Satellite Modem running SPL Radio Room with ISBD satellite connection to Shadow SPL Ground Control AWS Server for control with QGroundControl Software via TCP. (Report Period 60 min)
Camera: Time-lapse camera running on a two second interval attached in mast box –
Raspberry PI with 1080p Webcam running MOTION software with 256GB USB DRIVE
GPS Tracker: 1. SPOT TRACE SATELLITE TRACKER. (5 Minute Interval)
2. SPL Tracks Tracking via AWS Server using Satellite Comms Status Report.Design Notes:
1. AutoPilot, Comms, Camera & GPS Tracker are all directly linked to both battery banks with isolating diodes only ESCs & Motors are powered through Solar Chargers.
2. Each redundant system (Solar, Batts, Solar Charger) is linked to 1x big motor (Port) & 1x Small motor (STBD) for redundant steering ability.
3. All motors are housed in a tube with an array of intake holes cut out to minimise propeller fouling and avoid impact damage to the propellers.
4. All electronic components are in a waterproof box, inside another waterproof box to minimise any water damage to sensitive parts.
5. All power connections are covered in silicone sealant to prevent corrosion.
6. Antifoul paint has been applied to prevent marine growth on the hull.
7. Motors are configured with No Reverse Function and limited to 1600 PWN Output.
8. Autopilot INITIAL_MODE is Auto, and all failsafes have been removed. (View .param file for more information on Autopilot settings)
9. Mission has been plotted staying well away from all major land, taking advantage of some currents & following all the normal rules of a round the world journey. (Crossing the equator in two oceans, Visit Antipole, Distance etc.)
https://drive.google.com/open?id=1Kd7Nk_kCrQREwjxdfV4W-VZgk1c42aqj
10. Boat has been designed to survive a roll over and minor impact damage.I will post some pics later this week once I have finished the paint job…
I will be testing for 2 days on the water to tune the steering parameters next week and then she is off across the ocean until death or mission complete!What have I missed folks?
Please, I am happy for all design, tuning and testing input!
Thanks, Adam
Configuration and Mission Files:
https://drive.google.com/file/d/0BxqG1HHFzW1MaGREYXJ5dEtGY2t6aElXTzFDb1JsZFNVUzVR/view?usp=sharing
https://drive.google.com/file/d/1Kd7Nk_kCrQREwjxdfV4W-VZgk1c42aqj/view?usp=sharing
Posts: 1
Participants: 1
@Jeanbap18 wrote:
Hey everyone
I am currently building a tracked rover for a school project and it is controlled with a pixhawk autopilot and i would like to be able able to switch "flight modes" (from auto to manual/manual to auto) with an arduino mega when it detects an object infront of it ( I have the code for the distance sensors already) however i am struggling with the code to send signal to switch modes through MAVLINK ( beginner to the communication between the two) so i was wondering what a code looks like , if anyone has examples as to then just edit to my configuration
I was also wondering how to control a gimbal from the pixhawk using my ground station controller (9XR Pro)
Thanks in advance
Posts: 1
Participants: 1
@Chris_Anderson1 wrote:
The Marvelmind ultrasonic beacons work great with the latest ArduCopter (3.5) but with ArduRover 3.2, I get a "No GPS" with all the same settings on Pixhawk. Anybody know why ArduRover no longer works with Marvelmind? I'm following all the regular instructions, including using EKF 3.
Posts: 1
Participants: 1
@mookai1973 wrote:
Dear All,
Please help me to fix a USB driver on a picture on Windows 10 Pro x64 with mission planner, but it's work all on Windows 7 x64 on My pc but on my notebook with Windows 10 Pro it's not working, I'm try to find a solution on Google in last week and try many thing but it's not working, Any idea to fix this.
My notebook dell inspiron 5570 i7 with 16Gb Ram on Windows 10 Pro. (all latest driver from dell)
Thank you so much.
Posts: 1
Participants: 1
@Grayson_Woods wrote:
As the title suggests, I am trying to have multiple rovers follow a single gps unit (NMEA) at specified distances. I've been able to jerry-rig a solution by using a combination of the "Follow Me" feature, two rovers on the same multihop radio frequency, and a script that simulates my arrow key going back-and-forth between the two cars at a set frequency on my GCS. Although this works currently, I know there is a more robust way to achieve this same goal. In addition, I plan on adding more rovers which would make my current solution quite impractical. I was wondering if y'all had any suggestions for a better solution to my problem?
Some things I've noticed during testing is that:
-I am able to have both rovers independently follow the GPS location using Follow Me without any problem.
-Follow Me allows me to have multiple cars following at different distances, but it will only move the car if it is selected in the Mission Planner drop down window located in the top right. This is why I created the script that switches between each rover.
-I have had little success with the "Follow the Leader" feature. Although this might be a better solution, I have still yet to get it to actually work. I tried to test this by setting one of my rovers as the lead and the other as the follower using separate COM ports, but the follower only twitched its steering and did not actually follow. In addition, I prefer the way Follow Me works by setting a predetermined waypoint radius to follow without having to guess like in FTL.If there is no available solution, I am about to look to see if I can modify the Follow Me code to allow me to move both cars at the same time. I am not sure if this is a simple task, but I was thinking that is the Follow the Leader function can control multiple cars at once, then it may be doable. I am by no means an expert in writing code, but it does not appear to be such a daunting task. Is this something you might recommend or is the architecture of Mission Planner not conducive to this task?
Posts: 2
Participants: 2
@pixter wrote:
Hi dear friends
sorry for my bad question!, I just starter in autopilot.. Also I was did the best for trying..
on ardurover I have this parts:
1-pixhack 2.4.8
2-GPS+compass
3- battery 6V 4Amp
4-servo DS04-NFC
just this parts and need to control Servo steering connected to output 3
can I do this?
attached pictures
Posts: 1
Participants: 1
@BPNZ wrote:
So I live rural and have a large square paddock as lawn. I also hate mowing the lawns, and would much rather be in my shed tinkering etc.
I have a spare Walker ride on mower that I can use for this project, and I had a bit of engineering and computer knowledge (I own an IT company with ten staff), so I figured this shouldn’t be beyond me hopefully!.
I also love to research the hell out of stuff before jumping into it, and would rather spend the money for good stuff. Below is a random collection of my thoughts on it all.
So with that aside, here’s my plan, I’m after everyones input on this as I’m a total newbie.
My mower is a Walker very similar to this - http://www.prinsgroentechniek.nl/home/479-walker-mdd-diesel-frontmaaier.html
The back tray can be removed and replaced with a flat board, so mounting things isn’t an issue.
I’d be using Mission Planner as that is probably the most well sorted.
I’d like to use the new PixHawk 2.1 with HERE+ http://www.proficnc.com/system-kits/121-gps-module.html
I haven’t decided on servos or controller boards yet, but open to suggestions.
Controls
The Walker has a single lever for drive speed on the right hand side. This works by being pushed forward. If it’s right back the mower won’t move, if it’s right forward then the mower will go full speed, and obviously anywhere inbetween.
To turn the Walker has two levers in the middle, as the speed lever above is pushed forward so are these. To turn you pull back on the applicable lever, or to temporarily slow the mower down / reverse you just pull both the levers backwards.
Am I better off to have one actuator controlling the forward and backward speed and another two actuators controlling the steering? or would I be better off to reengineer the Walker to have one actuator on each speed lever that’ll also push forward or back, meaning then if the actuator is at -50% it’s full speed backwards, 0% is stationary, 100% is full speed forwards? I’m guessing that might be the easier option for APMRover to control?
Throttle control is a lever on the left hand side. It’s a diesel engine and you pretty much run the thing at full throttle the whole time. This gives the best cut and speed is varied by the speed lever anyway. I need some way to activate the throttle, however I’m guessing an actuator that could just be switched to full would be easiest.
To activate the blade is a lever to the right as well, this requires a bit of force and throw to activate but I’m sure there’s a actuator out there that’ll do it.
Other inputs
I’d also like it to monitor the water temperature and oil light, I can’t quite tell if the PixHawk 2.1 has inputs that could support this, or whether I’d need to make up some adaptor. I would probably fit new sensors to the mower rather than relying on the factory ones. And obviously if the mower got to hot or oil light came on then it would shut down and alarm me.
Positioning
As above I’d go with the Here+ kit, as I believe this will give me the most accuracy and compatibility. It’s a big open field so no trees or anything to block the signal.
Safety
I’m thinking whilst it’s autonomous I wouldn’t let it run without me watching it (happy to watch, just hate sitting on it). I’d have a kill button, and maybe make some bumpers for the front (one each side) that if nudged far enough trigger a switch or something to immediately kill the mower. However, open to suggestions on this.
Any other thoughts anyone has would be much appreciated? I’m interested what actuators people use, and most wont need to be that strong, but I don’t want anything delicate that’ll break easy. The one to actuate the blade starting though will need to be reasonably powerful.
Many thanks.
Posts: 1
Participants: 1
@maxbirley wrote:
Hi
I am using a Sabertooth 2 by 12 RC motor controller with a Pixhawk 2 loaded with firmware 3.2.1. The chassis is actobotics and weighs about 10 pounds. I am using 303 rpm motors and the bot is set up for differential steering. I have just bought 2 118 rpm motors that will be better. Ie slower with more torque.In manual mode all is as it should be and the bot responds well. However in steering and auto I am getting violent swings from side to side whilst traveling to a waypoint. This being said forward back velocities are well constrained and not a problem. Also the bot is generally trying to go in the direction of the WP so I think all the connections and reversals are bacially correct.
I have been through the new wiki material on speed, steering and navigation tuning many times and I have still not found the solution
If some can tell me the main parameters that control steering in these modes I would be grateful.
Also the parameter to turn pivot steering off and back on
I can include a log file in the next post If thought usefulRegards
Max
Posts: 1
Participants: 1
@maxbirley wrote:
When I get a list of Dataflash files it take for ever at baud rate of 11520. Also when I then select 2 files to download it take even longer. So I removed the data card and copied the files (.bin) to my hard drive. When I selected Review a log I got an error message saying the the fit file was not present. Can anyone recommend a fast why to download the DF logs
I tried on a pix 1 and 2 and got the same result. I am running 3.2.1
Thanks
Posts: 2
Participants: 1
@Stumpy wrote:
I’m a bit confused as to whether the Ardupilot is still available. A couple of years ago I was starting with Arduino controllers, I got a book that built an autonomous boat and they used an Ardupliot. I looked into it and it appeared that the Ardupilot was being phased out and the Pixhawk was the new and improved version.
I just got another book, just released this month, about building a drone, I actually will be building both a rover and a boat but thought this book would give me good controller info. In it the author, different than other book, also uses the Ardupilot. Yet when I go on to the list of suppliers from the Ardupilot.org site none of them have the Ardupilot.
Am I missing something? (Wouldn’t be the first time) or is the author of this new book behind the times?
Thanks
John
Posts: 11
Participants: 6
@Edward1 wrote:
Dear all,
I want to ask whether the cruise_throttle and cruise_speed can be set as negative values?
If I do so, I am suspicious that the code can not handle it? Am I right?The code is as the following:
APMrover2/mode.cpp:
// estimate maximum vehicle speed (in m/s)
// cruise_speed is in m/s, cruise_throttle should be in the range -1 to +1
float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) const
{
float speed_max;// sanity checks if (cruise_throttle > 1.0f || cruise_throttle < 0.05f) { speed_max = cruise_speed; } else { // project vehicle's maximum speed speed_max = (1.0f / cruise_throttle) * cruise_speed; } // constrain to 30m/s (108km/h) and return return constrain_float(speed_max, 0.0f, 30.0f);}
Thank you very much for your effort.
Posts: 1
Participants: 1
@shaun_reed wrote:
I originally came across dronekit-python and in their documentation talked about Ardupilot. There’s a lot I see to go over. The setup I’m looking at is a beaglebone black, two robocalw 2X60A controllers and 4 CIM dc motors with omniwheels. The drone can go forward/ back, rotate left/ right, and move left and right without rotating. Looking at the FrSky QX7 transmitter. My question is do i need a pixhawk or other hardware on the drone? Right now i just want to get the thing moving with manual input and use dronekit for a gimbal camera setup. Then branch out to OpenCV and autonomous features. Thank you for any information and links to other threads.
Posts: 2
Participants: 2
@Zhijian_He wrote:
Dear all,
Can cruise_speed and cruise_throttle be assigned as negative values? If so, What will the rover act?
The code is as the following:
// estimate maximum vehicle speed (in m/s)
float Mode::calc_speed_max(float cruise_speed, float cruise_throttle)
{ EXECUTE_MARK();
float speed_max;// sanity checks if (cruise_throttle > 1.0f || cruise_throttle < 0.05f) { EXECUTE_MARK(); speed_max = cruise_speed; } else { EXECUTE_MARK(); // project vehicle's maximum speed speed_max = (1.0f / cruise_throttle) * cruise_speed; } // constrain to 30m/s (108km/h) and return return constrain_float(speed_max, 0.0f, 30.0f);}
Thank you very much for you reply.
Posts: 2
Participants: 2
@Mirko_Zhou wrote:
Dear community,
I’m trying to build a rover that can do automatic measurement and data collection work using Pixhawk. So basically what I want to do is to input multiple coordinates from mission planner so that the rover can go through all the waypoints and perform the measurement.
So in this case, is it still necessary for me to buy a new RC transmitter ?
Is there any way that I can caliberate the servo to be zero angle using mission planner?All the suggestions will be appreciated. Thank you so much.
Best regards,
Mirko
Posts: 2
Participants: 2
@meat030 wrote:
Hi All,
My motor has the following encoder output signals.
The encoder is a A-B dual channel, 1000ppr, incremental optical encoder.Encoder
Red +5V
Black GND
White A-
Blue A+
Yellow B-
Green B+This is slightly different to the encoders used in the wiki. Can I simply use the +ve signals and ignore the negative signals and simply hook them up to my Navio2? –
Does the Navio2 support motor encoder input?
Also, I need to figure out the wheel’s distance from the flight controller. Do I figure out the position of the wheel based on the position of the axle as the reference point?
Posts: 2
Participants: 2
@maxbirley wrote:
Some comment to this will be appreciated
I am working with the Pixhawk 1 with Rover firmware 3.2.1. Mission Planner is the latest version. I have 2 GPS connected and one is providing a RTK fixed position. ie status 6
Both gps see at least 12 satellites. However I am getting a “Bad GPS Health” message. If I disconnect the second GPS and retain the rtk gps I still get the message.When the rover is working the gps seems to be working wellWhat needs to be off to get this message.
Last week I was not getting this message. It started apparently with out making any changes to the gps settings. I will post a data flash log in a follow on post as I can not find the include button
regards
Posts: 3
Participants: 1
@maxbirley wrote:
I have uploaded a picture showing the track (path) of my rover
The mission to simple just to go back and forth making 180 degree turns and then drive between the WP in a straight line. The rover makes a tight turn and then heads off at about 30-45 degrees off track and then after 5 m starts to drive directly to the next waypoint. In the first part of the turn the wheels are jerky and in the second part which is more direct the wheel movement is much smoother.
I have tried every parameter and nothing makes a difference.
I would appreciate if someone could suggest some steering or navigation parameters that my fix this.
regards
Posts: 1
Participants: 1
@bhollehday wrote:
Ive got a 4 wheel steering rover that I make work by taking servo5 function and driving it from the steering channel, and then reversing it (so wheels turn opposite of each other). Everything works fine in manual mode, but when I use guided mode, the steering spaz’s out and turns left right left right. If I turn servo5 function off then it works fine. I have tried different channels, wp_radius, and reversing roll nothing seems to work. I am using latest update of mission planner, with latest firmware of ardurover, on the pixhawk 2.1 cube. Why would this happen only when servo5_function is set to steering (26)???
Posts: 1
Participants: 1
@rmackay9 wrote:
We’ve just released Rover-3.2.2-rc1 for beta testing. It can be loaded using the Mission Planner’s (and perhaps other GCS’s) Install Firmware screen’s “beta firmwares” link.
This release includes just a single small fix:
- Fix loss of steering control when stopping in Acro and Steering modes
In 3.2.1, the driver loses steering control (the vehicle simply gord straight) in Acro and Steering modes when the vehicle is slowing to a stop (i.e. the driver puts the throttle to mid). It sounds terrible but it went unnoticed because most vehicles slow to a stop quite quickly so it only became obvious when testing a car capable of >10m/s.
All testing and feedback is welcome, especially on boats!
P.S. sorry for not answering many support issues raised in the past couple of weeks, the developer un-conference kept me quite busy. This is actually where we found and fixed this bug.
Posts: 2
Participants: 1
