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Inaccurate Waypoint logging with toggle switch

March 8, 2018, 8:04 pm
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@meat030 wrote:

Hi

I have an issue logging waypoints with the CH7 Toggle switch.

I am currently attempting to get the rover to follow a pre-recorded path.

The rows are 50 m long and about 1.5 m apart.

I have an EMLID Reach RS GPS (Set to GPS2 - GPS1 is disabled) and was able to attain RTK Fix during my run.

In manual mode, I recorded the GPS path via a ROS module that is monitoring the
global_position/global msgs (http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.global_position). The path recorded is shown in blue in the image below.

While recording this run I also manually toggled the CH7 switch to record waypoints in ardurover (See yellow line).
The recorded waypoints done by ardurover looked very squiggly. It was not at all like the smooth path logged by my ROS module.

Of course when I tried to run in auto mode with the yellow recorded waypoints, my robot is swinging all over the place.

ros-vs-planner
ros-vs-planner.png3840x1200 109 KB

Waypoint file here : https://cloudstor.aarnet.edu.au/plus/s/vWRU1ardHZUvELz

Log file here (Large file - 200MB ) - https://cloudstor.aarnet.edu.au/plus/s/ElR7CfNWadRolrs
The path was recorded early in the log …there rest were my attempts at doing other things.

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Turnigy TGY-iA6B V2 Receiver 6CH with PixHawk

March 10, 2018, 11:10 am
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@NIK7A wrote:

Hi guys,
I have two questions:

  1. The Turnigy TGY-iA6B V2 Receiver 6CH is compatible with PixHawk (PX4 V2.4.8 )?
  2. Any good site for the full set (with Gps, Radio Telemetry Set, etc)?

(TGY-iA6B V2 Receiver 6CH has SBUS): TGY-iA6B

Thank you in advance for your help!

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Rover manual control via python script

March 11, 2018, 11:57 am
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@gpldecha wrote:

I have been trying to control my rover with a python script using pymavlink. I have raspberry pi 3 acting as a bridge between the pixhawk and my PC as described here.

This is the script I run on my PC:

from pymavlink import mavutil

mavutil.set_dialect("ardupilotmega")

autopilot = mavutil.mavlink_connection('udpin:192.168.1.88:14550')

wait_heartbeat(autopilot)

mavlink = mavutil.mavlink

autopilot.set_mode_manual()

autopilot.mav.command_long_send(autopilot.target_system, autopilot.target_component,
                        mavlink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 255,
                        0, 0, 0, 0, 0, 0, 0)

From the console output of the raspberry pi, running mavproxy, I get the following output:

Got MAVLink msg: COMMAND_ACK {command : 176, result : 0}
MANUAL> Mode MANUAL
Got MAVLink msg: COMMAND_ACK {command : 70, result : 3}

My script was able to change modes but unable to control the rover. The problem is probably in mav message. I would be grateful for any help.

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Questions about cruise_speed and cruise_throttle

March 12, 2018, 12:42 am
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@Zhijian_He wrote:

Dear all,

speed_max = (1.0f / cruise_throttle) * cruise_speed;

This line of code means the maximum speed is inversely proportional to cruise_throttle. I am suspicious about the correctness of this? Am I right?

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) {
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 you reply.

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Ardurover 3.1.2, Skid Steer. Auto Mode Oscillation

March 12, 2018, 2:28 am
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@Achilles wrote:

Hallo Everyone,
I am currently trying to get Ardurover (on a Pixhawk) working on a Wild Thumper 4WD which is controlled by two normal brushed ESC’s.
I already disabled breaking on the ESC as one side of the drive stopped working in auto mode because it was braking instead of reversing.
Now it is working OK in manual.

However, I already tried a lot (also Rover 3.2, but results got worse). My settings are like in the Wiki so far, but in auto mode the rover is more or less “Walking” to its Waypoint. It seems the controller is overshooting and then correcting and overshooting again. I tried the PID setting and lowered Steer2Serv_P to 0,1. I also relocated the Pixhawk into the center of the frame and gave positions of the GPS Antenna in the settings. NavL1 Period is set to 5, but other Periods had no effect so far.

Has anyone successfully used a setup like this with skid steering and can tell me more about the PID settings?

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RC Boat: Help choosing over ArduPlane, Boat or Sub!

March 12, 2018, 11:59 am
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@Neil_Fogg wrote:

Hi Community,

I really only have one big question.

Due to budget and design goals I have put together a RC Boat that I would like to have very basic autonomous features. At this point, all I care about is position “HOLD” mode. This boat is being designed to travel in streams and rivers to do bathymetric and discharge surveys. So water currents and wind acting on the hull will always be an issue.

The power-plant design is a Jet-drive propulsion system that can do forward and reverse; and steering is provided by a servo to the jet-outlet. I’m using a Pixhawk controller. GPS and compass are available and mounted far away from interference.

I have been doing research on both ArduRover and ArduSub but having a hard time figuring out which one I should work with or even start with, for that matter.

So, as said; position hold is all that I really care about when it comes to flight modes. I believe the ArduRover has HOLD mode, but I believe that this mode is limited. Will this HOLD mode in ArduRover adapt to current and wind and continue to drive/steer the vehicle to the hold position?
I also was looking at the ArduSub, which does have HOLD and will adapt to current and wind, but as per the illustrations of thruster setup, mine does not really fall under any of them. Looks like steering is provided by proportional throttle in all examples . Of course, I only have one thruster and a servo for steering. Is there a way to have ArduSub do what I need it to do?

What do you folks think?
Any guidance, advice, comments would oh so greatly be appreciated!

Neil

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Pixhawk Startup Sounds: Low - High Beep - What does it mean?

March 14, 2018, 11:29 am
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@antimattercrusader wrote:

Probably a dumb question here… but what does this beep mean? Instead of the usual startup sound, I am getting this: https://drive.google.com/open?id=13-uuPgpcotuEFz0BT-Lqz1gpGFTzCy-v (Note: The first beep is an ESC - the pixhawk sound is around 5 seconds in)

Perhaps it’s worth noting the following (though it makes the sound above regardless):

  • ARMING_CHECK set to 0
  • ARMING_REQUIRE set to 0
  • BRD_SAFETYENABLE set to 0

I would review all the sound files pixhawk makes… but it seems the site which hosts sound files for review is down (http://ardupilot.org/rover/docs/common-sounds-pixhawkpx4.html?highlight=sounds). In the meantime, perhaps someone can provide some input?

Much appreciated!

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Which Maxbotix sensor? I2C or not, for object avoidance

March 15, 2018, 12:50 am
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@Irongarment wrote:

Hi all,

I have hacked together my first Ardupilot Rover. It has a plywood deck, two cordless drill motors, two Pololu G2 motor drivers, a FlySky FS-i6 Transmitter With FS-iA6B Receiver, and a Pixhawk kit with GPS and compass. It is powered by a heavy 17Ah SLA battery.

For the benefit of any new readers: yes, you do need the RC controller to set everything up…

Anyway, to my question. I want to add two sonar obstacle detectors to the Rover. The wiki suggests Maxbotix analog sensors, but I see that the I2C models are also supported.

Can I connect two Maxbotix I2C sensors to the Pixhawk for obstacle avoidance (in Rover mode)? The Rover will perform autonomous manoeuvres on private land but it needs to avoid trees, posts, walls, etc.

They’re about $40 each, so I need to be sure they work. I am willing to fiddle around with them to get them going well.

Thanks.

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Rover in GUIDE mode

March 15, 2018, 1:41 pm
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@elgarbe wrote:

I have some questions about GUIDE mode:
What controller are enabled in GUIDE mode?
I want to try GUIDE with ROS. I have a pixhawk connected to a rasp pi 3, running ubuntu and ros kinetic. Which topic do I need to publish to in order to command my boat? I have a skid steer boat.
I’m looking this video: https://www.youtube.com/watch?v=se5ANNFHUzc
Is that RQT window a ros node or is it a program?

Thank!

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Can not change flightmode over RC, MissionPlanner works

March 17, 2018, 4:38 am
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@count74 wrote:

Hi,

if I try to change the flightmode to acro or steering over RC Channel 8, I get “Flightmode change failed”.
It works fine over Missionplanners “Actions” tab. I can change between Manual and Hold via RC.
I am using wheelencoders (GPS deactivated) and Ardurover 3.3.0dev on a Pixhawk (PX4v3).

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Problem starting with SITL

March 17, 2018, 7:33 am
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@elgarbe wrote:

I’m following steps from here http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
sim_vehicle.py -w works ok, then try
sim_vehicle.py -j4 --map --console
and works ok, but I get no map. It seem that start downloading but it doesn’t.

Then I go to https://www.youtube.com/watch?v=JvAzjPYTl6Y and try
sim_vehicle.py -V APMROVER2 -f rover-skid --console --map -w

this time I get

Connect tcp:127.0.0.1:5760 source_system=255
[Errno 111] Connection refused sleeping
[Errno 111] Connection refused sleeping
Failed to connect to tcp:127.0.0.1:5760 : [Errno 111] Connection refused
SIM_VEHICLE: MAVProxy exited
SIM_VEHICLE: Killing tasks

Thank

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Rover-3.2.2 released!

March 19, 2018, 3:13 am
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@rmackay9 wrote:

We’ve just released Rover-3.2.2 so it should show up as the official default version in the Mission Planner (and other GCSs) in the next few hours.

This version has just one small change included (Release Notes):

  • Fix loss of steering control when stopping in Acro and Steering modes

Thanks!

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WaterLinked GPS access to output data

March 19, 2018, 5:23 am
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@Fredrik_Sorensen wrote:

Hi

We are some engineering students working on a controller for a blueROV 2.0, and we want to integrate the underwater GPS (by WaterLinked) as measurement for positioning and velocity in the x,y plane. we have some trouble getting access to the data that the GPS provides.

The controller will be written in python on the raspberry using pymavlink.

So my question is, how do I get a x and y value from the GPS and being able to use in a controller.

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Info Rover on a boat

March 19, 2018, 11:53 am
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@Andrea_Pirovano wrote:

Hi,
I have mounted the pixhawn board on a boat. I uploaded the rover firmware 3.2.1. In Manual it works perfectly but in mode Guides it seems that it turns the other way around. In steering mode everything is ok. I tried in mission planner in the radio calibration to reverse both the rool and the throttle but without success. Attachment my configuration file. GPS ok and Waypoint ok. Can you help me?
Thanks.

definitivo.param (11.1 KB)

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Testing motor and steering direction

March 21, 2018, 8:09 pm
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@rmackay9 wrote:

A few users have suffered with their rovers driving in the wrong direction or with steering and throttle controls apparently being reversed. There are a few potential causes but the most common cause is having the RCx_REVERSED or SERVOx_REVERSED parameters set incorrectly.

Rover-3.2 includes a “Motor Test” feature which allows testing that the output (controlled by the SERVOx_REVERSED parameters) is correct and I’ve just added a section to the wiki here.

… and the pic below (from the wiki) gives the basics of how it can be used.

rover-motor-test
rover-motor-test.png1192x647 67.7 KB

Hope this helps!

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Automatic start with AUTO_TRIGGER_PIN how?

March 21, 2018, 11:20 pm
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@Irongarment wrote:

Hello,

I’m fairly new to Ardupilot, but I do have my Rover working. It’s pretty awesome that anyone can make use of such a powerful platform with not too much effort.

My Rover has a Pixhawk controller and works with an RC controller to select hold/acro/auto modes, and arm/disarm. I can also program missions and start actions from Mission Planner (my GCS). It’s all good.

In acro mode I can drive the Rover around like an RC car. It’s a lot of fun.

In auto mode it will set off for waypoint 1 and follow the list of waypoints in order as expected.

There are a few features I haven’t tried yet, but I have the basic functionality I need.

My goal is to build a platform that can be started up simply, with no RC controller, and no GCS. Like this:

  1. Turn on power
  2. Press hardware safety switch until the LED is on solid.
  3. Flick a switch, off it goes on the pre-loaded mission.

I’ve figured out from this forum and various places that this is possible, but it’s not working for me. I do have the latest firmware (3.2.2).

Basically, I have configured AUTO_TRIGGER_PIN, which will act as a run/pause input. The pin is grounded through the switch in the ‘run’ position, and unconnected in the ‘pause’ position. I confirmed the switch is detected properly by observing messages on the GCS.

I have configured INITIAL_MODE to 10 for Auto.

I have set FS_THR_ENABLE to 0, and FS_GCS_ENABLE to 0 so that I don’t need the GCS or RC running. I have set ARMING_REQUIRE to 0.

What happens is that the Rover Powers up and arms, but flicking the run/pause switch to ground AUTO_TRIGGER_PIN does nothing (I do press the hardware safety switch first).

If I set ARMING_REQUIRE to 1 then use the RC controller to enter Auto mode then the AUTO_TRIGGER_PIN switch works as expected. I can have the Rover run or pause by toggling the switch.

So, what am I missing? I’m thinking I might have to attach a button to an Arduino connected to a serial port that sends the Arm command, because auto-arming at boot time doesn’t seem to work.

For now I’ll stick with the RC controller to change mode to Auto then Arm, but I’d like to get the controls on to the Rover, with no RC controller or GCS.

Thanks everyone.

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Success tunning for Auto mode

March 23, 2018, 2:11 pm
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@elgarbe wrote:

Finally I get time to go to the stearn and test lastest firmware.
I’ve started with speed and steer controller in acro mode. It was prety easy to get it working.
Then tryed a mission in auto mode (with TURN_MAX_G set to 0.02) and it works without touch any other parameters. Nice!!!

https://frsnutneduar-my.sharepoint.com/:v:/g/personal/lgarberoglio_frsn_utn_edu_ar/EY6xQ0P8KahIvUwBv1imsYEB2BAA03CN3BCz-NkG3Uvv1A?e=cTindD

Thank to all developers and specilly to rmackay9 !!!

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Send velocity command through Mavros

March 26, 2018, 8:00 am
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@MattMaG wrote:

Hello,

We are working on a Rover with Pixhawk 1 and Odroid xu4 as companion board. Mavproxy and mavros are running fine with those commands:

sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 921600 --out udp:127.0.0.1:14540 --out udp:127.0.0.1:14550 --console

roslaunch mavros apm.launch fcu_url:=udp://:14550@

After arming and setting GUIDED mode, rostopic echo /mavros/state returns:

header 
   seq:432
      stamp:
         secs: 152xxxxxx
         nsecs: 332xxxxxx
     frame_id = ' '
connected: True
armed: True
guided: True
mode: "GUIDED"
system_status: 5

At this point, we are able to echo publishing topics such as /mavros/imu/data . But when we try to publish velocity commands on /mavros/setpoint_velocity/cmd_vel with:

rostopic pub -r 10 mavros/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "{header: auto, twist: {linear: {x: 1.0, y: 1.0, z: 1.0}, angular: {x: 0.0, y: 0.0, z: 1.0}}}"

Nothing happens: /mavros/rc/out does not vary at all. We have seen several posts on various forum, but no one can explain why it doesn’t work ?

matt

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Sonar message boxes

March 26, 2018, 3:14 pm
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@maxbirley wrote:

Hi all
I am using FW 3.2.2 and I have just installed a MaxBotix MB 1240 sonar I also am trying a MB 1260. They seem to be working ok however I am getting some irritating message boxes all the time flashing up on the screen informing me of the range. Does anyone know how to switch them off but still retain sonar functionality. I am also using a upto date version of mission planner.
Regards
Max

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Getting steering value

March 27, 2018, 6:30 am
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@promistrio wrote:

Hello! How to get value of steering from rover? For example in PX4 i can subscribe on actiator_controll messages and get it. I would like to redirect it to uartE in my format

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