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Process for Swarming Rovers

October 1, 2018, 9:30 pm
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@Bender wrote:

Hi Community & Devs,

I am trying to workout the process for Swarming on Mission Planner (latest version) with a rover running a pixhawk 2.4.8 with FW 3.4.2 and an APM(Ardupilot)…not sure the firmware off the cuff.

I followed the instructions from the Ardupilot docs but they were a little vague and not reflective of what i see on Mission Planner (MP). I have searched the net but not found anything to assist.

I was able to connect the two rovers, could see them on mission planner but was not able to get the follower vehicle to move. The leader moved but not the follower.

Can someone explain the process a little better? Also, could the follower rover running APM be the issue?

I appreciate you advice.

Regards
Ben

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Arduboat - engine layout/spec for stationary tasks in e.g loiter mode

October 2, 2018, 3:28 am
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@TB_RTK wrote:

Hi,
I have a “floating device” that i need a engine configuration for, which also supports Ardupilot.
Its task is to stay put in a given position (e.g loiter with manual stick input) and only need to counteract for wind, current and possible small movments or adjustments in position.
It also need to be able to navigate in all direction with turning it self.

Any input on the part and engine config. recommandation that fits Ardu would be great.

Something like this
vectored-frame

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Fast beeping of here+ or pixhawk cube : what does it mean?

October 3, 2018, 12:26 pm
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@arnaud wrote:

Hi,

Does anyone know the meaning of fast and continious beeping from my pixhawk cube or Here gnss ?

During this beeping, everything works fine and nothing appears in mission planner hub…

The beep starts after 2 or 3 minutes after arming.

Thank you.

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PreArm: check steering and throttle config error

October 5, 2018, 4:28 pm
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@Anelito wrote:

Hello,
upon configuring a new Pixhawk using the latest ArduRover (boat) firmware, I strumbled upon the error
PreArm: check steering and throttle config without any additional message.
Arming from RC or GCS gives the same error message.
Mandatory and optional hardware configuration have been performed and the compass disabled due to persistent “inconsistency error” triggered.

Main Out mapping

1 - Rudder (RC yaw input)
2 - Winch (RC roll input)
3 - Throttle (RC throttle input)

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Question: Boat decreases throttle during turns

October 7, 2018, 3:09 pm
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@antimattercrusader wrote:

Hello! Quick question for anyone here: On the newest firmware, my boats are decreasing throttle during turns. Previously, I would adjust the “SPEED_TURN_GAIN” to 100 to maintain throttle throughout the turn, however, this parameter appears to no longer be part of the code.

Does anyone know how the throttle is controlled during turns or if there is a replacement parameter? I am not using vectored thrust and would like to maintain throttle during turns.

Any input is appreciated!

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Wingsail Setup with Pixhawk4 and RPi

October 7, 2018, 4:32 pm
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@John_Cherbini wrote:

Wow…super impressed to see the progress on the sailing code front!

I’ve been wanting to try a wingsail setup. I’ve tested it manually enough to realize I really want to aim that sail better, and I decided to try a stepper motor to turn the mast.

I built this setup with a RPi and L298n to run the stepper motor.

[https://drive.google.com/open?id=1BQSqxTmyIm-Hpx_rznNIGuKh1fatMpMq](http://RPi setup)

After reading through the other threads, I ordered that awesome looking windspeed sensor and the 360 pot.

I’ll get the code loaded up and start messing around, but it’s nice to know that I just need the RPi for the stepper motor and additional sensors.

I’ll have to start thinking through the sail aiming based on wind direction. I’ve read where others have created a fairly simple lookup table?

Cool to see others interested!

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Surveying/staking out with RTK gps

October 8, 2018, 4:28 am
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@Tractor_Pilot wrote:

Hello All,

I am using a Here+ rtk gps and a Pixhawk 2.1 on my rover. The rtk gps seems to be working reasonably well. I was wondering if I can somehow set up the rtk gps to do some surveying and in particular staking out?

Thank,

Stephen

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Traxxas ESC: Manual Mode, Delay in braking of 1 second... why?

October 8, 2018, 3:10 pm
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@Strongbad71 wrote:

I have a Traxxas ESC (Unlimited Desert Racer). When I use it out of the box with the stock transmitter, going from throttle forward to full reverse, the active braking works immediately. Now, when I insert the Pixhawk 2.1 with Ardupilot Rover (latest stable), forward throttle reacts immediately, but when I go to brake, there is about a 1 second delay before the active braking kicks in.

What is the source of this delay? Can it be tuned out, or is there a code change needed? I am trying to use this eventually in Auto mode (somehow) to send a STOP command to the Rover in MAVlink, but if it doesn’t work manually, I assume it won’t work in Auto.

Thanks for any guidance (no pun intended)!

Derek

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Skid Steer/Tank/Catermeran with two stick control

October 10, 2018, 10:45 pm
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@doehme wrote:

I’ve got a twin hull boat I want to automate. It has fixed props with brushed DC motors on a direct drive to each withh no rudders. I’ve got it setup with a Mode 1 radio that I’ve modified to have centering gimbals both sides and as such, I can drive it like a tank - right stick (radio throttle) does fwd/back for the right hull and left stick (radio pitch) does fwd/back for the left hull.

It works very well direct from the radio receiver or with the Pixhawk channel set to RCpassThru. However, if set it to anything other than RCpass Thru or RCin2&3 it won’t work. I have tried SERVO2_FUNCTION = 73 and SERVO3_FUNCTION = 74

It’s firmware is as a Rover, PILOT_STEER_TYPE is 1. Modes (Ch8) are setup as Manual, Auto and RTL, but it won’t work even in manual.

I gues my first question is - can ardurover even cope with a two stick system with the centre of each stick being stopped, down is reverse and up is forward. Left stick (Ch2) controlls the left hull, Right stick (Ch3) controls the right.

If so, what am I missing??

If not, what radio/control setup should I be using?

Thanks,
Dene

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Visual odometry with opencv, raspberry pi, and ardurover?

October 13, 2018, 7:10 am
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@Vincent_Miceli wrote:

I’d like to use opencv on a Raspberry Pi or similar to do visual odometry. The Pi supports I2C on its GPIO so I should be able to make data available to FC. I was wondering if anyone has already done something similar or has any advice. There are a lot of pieces that would need to come together.

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Joysway Baiting 500

October 17, 2018, 11:20 am
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@MickeM wrote:

A Joysway Baiting 500 is on its way. It looked cool with its yellow on black colorscheme. Two motors, no rudders (I think). Getting rid of useless stuff and then I am gonna use a Pixhawk of some kind/size. I dont know which “flightmodes” there is (have been using APMs and Pixhawks sinces 2014 in planes and multicopters). RC-boat (Manual Mode?), using auto missions to make it go around some waypoints. Try to get some sonar / scanner to “map” the bottom, dont know anything about these. Maybe I need a bigger boat.

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C94-M8P, Pixhawk, RTK and ROS

October 18, 2018, 12:08 pm
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@jtch wrote:

Objective: RTK w/ C94-M8P dev boards.

Components:
One C94-M8P is a base station; the other is a rover.
Antenna link is used, leaving USB as the control link.
UpBoard (a single board computer running a debian distro.

Comms:
C94 base <=Antenna=> C94 rover <= USB => UpBoard <=Serial=> PixHawk
Since I use ROS I communicate with the PixHawk via mavros.

Progress:
Written Python code, which runs on UpBoard, to communicate with and control the C94.
Python code can now:

  1. Configure C94. UBX-CFG messages, e.g. UBX-CFG-PRT; Enable/disable messages (UBX 06-01).
  2. Read NMEA style ASCII messages. from the C94.
  3. Begun work on decoding RTCM messages.

This repository has been helpful: https://github.com/Korving-F/ublox

Expect to have to send at least MAVLINK_MSG_ID_GPS_INPUT and MAVLINK_MSG_ID_GPS_RTCM_DATA messages to the Pixhawk.

2 questions:

  1. Is there some code which already implements these features?
  2. Assuming no to Q1, is this something folks might use?

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Dual motor controller setup issues

October 20, 2018, 12:42 pm
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@greenhall wrote:

Moved backwards in our development to change out some failing technology and try to get the correct trims for right-hand only (Mode 2 transciever, center loaded stick) reversing behaivior I was expecting. Our previous working prototype had a forward only setup using left stick throttle in manual. As a skid steering UGV, it wasn’t too essential to our tuning process at the time. But we’re also using it for real farm tasks and the reverse behaivor would be helpful.

I’ve got two new competing issues:

  1. Right wheels are moving forward after safety switch disengaged and MOT_SAFE_DISARM=1 but before ARMING, which is concerning from a safety perspective. Crappy SD card (part of the aformentioned equipement fail) means I don’t have any of our logs for this time, but I’ll generate some today with LOG_DISARMED set.

  2. Forward and reverse behaivior on wheels as expected but right wheels are turning at a much slower rate. Signal interference? I wish I had my oscilloscope. Observation of right MC leds indicates that is isn’t recieving a HIGH directional signal from the AUX 6 pin.

I’ll reply later today to this topic with params and logs if anyone can help.

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Newbie with Pixhawk

October 25, 2018, 3:35 am
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@Xexu wrote:

Hello there !

I’ve bought a Pixhawk to work with my own project. I have a Traxxas car and I’m looking to control it by using PixHawk along with nVidia Tegra TX2.

So I started looking for some tutorials and more tutorials… then I have some troubles intalling it.

I am going to post only the most elemental problem, I hope to solve the next one by myself.

I want to confirm that the inputs given by the commander (FLY SKY FS-t6) are received in the PixHawk.

For now I installed MIssion Planner, I set the pixhawk with GPS module, the buzzer (sound), the arm button, and the transmitter.

I assume all things are well connected but I give you details of the transmitter:

I am using Fly sky model FS-R6B connected to a PPM encoder (CRIUS v2.0) and then connected to RC-IN of Pixhawk.

In FS-R6B (transmitter) I set in BAT a wire connecting Ground (most right hole with most left one)…
in CH1 I connect the power supply (IN1 / + / - ). So it seems to power the transmitter.

At this point I’m able to bind with the commander so the red light turns estable. Then I connect some Inputs to CH2 - CH3 and so on… to the right most part from the transmitter.

When I try to set (wizzard) the pixhawk, it blocks at step 6/16 showing the following message:

“missing BATT_CAPCITY param …”

The options are given do not match with my knowdledge, but if I skip the windows I can see Radio settings (in order to calibrate controls) and there seems to be that any button from commandment is working.

What should I do? I would like to go step by step.

I do really thank you for your patience.

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Skid Steer Rover moves backward in GUIDED mode. - FCU Crash: Going to hold

October 28, 2018, 6:35 am
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@AjithKumar wrote:

Hi all,

I am using a Skid Steer Rover with Pixhawk 2 cube.
Pixhawk 2 cube is flashed with Rover-3.4.2 firmware. Jetson TX2 is used as a companion computer.
Recently, I am facing some issues in the GUIDED mode.
Here is what we have done,

  1. Removed GPS using GPS_TYPE=0, and I used wheel odometry alone alone for indoor pose estimation.
  2. I did set “origin” and “home” through mavproxy map.
  3. Then, I used mavros to test the GUIDED mode. Suddenly, all the motors started to spin backwards. The mavros GCS mesages said that “FCU: Crash: going to hold”.
    The motors didnt stop spinning even after setting the HOLD mode.
    Then I tried to set “rc 1 1500” and “rc 3 1500” in MANUAL mode. The motors backward spin didn’t stop.
    Then I increased “rc 3” in steps and observed that motors stopped spinning when “rc 3 1850”
    Looks like trim value was set to 1850 automatically after FCU crash instead of rc 3 1500.

This issue didnt happen all the time.
It happens once in ten times.
So, I am sure that my SERVO and TRIM params are correct.

Please help me to sort out this issue. I am also attaching the log( https://drive.google.com/file/d/15-STLhSHcjCIyHK6AJwHqBG7H-NqhW3X/view?usp=sharing ) which I captured when “FCU: crash going to hold” occurs.

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Rover without direction, spinning without stopping

October 29, 2018, 4:11 pm
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@Prof_Stephan wrote:

I have a rover with the last version Ardurover v.3.4.2, before I was with problem of the compass that was giving error all the time, differing from yaw, after much insistence and deactivating the external compass now I solved the problem, I do not know if it is Problem with the external or the pixhawk, but now with everything right in the clipping, the rover when entering AUTO or RTL is spinning without stopping, doubt, is a problem of direction or some direction, if someone can help thanks.

In the latest version of the mission planner, for ardurover I can not find the live calibration option, just for plane, copter etc, but not pro rover, only in the MP 35 version.

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Urgent! Need help controlling an e-bike motor with ardupilot

October 31, 2018, 8:04 am
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@Sohan_Anisetty wrote:

I am working on a automated rover. I plan on using a 24v 250W e-bike brushless motor with a 200amp esc and an APM/Pixhawk power module(28v/90A). Would this setup work when connected to ardupilot mega or pixhawk. Can you guys suggest a better method.

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Three-wheeled rover with skid steering and servo controlled tailwheel

November 4, 2018, 4:22 am
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@count74 wrote:

Hi,

I made a short video of my rover driving a mission with active tailwheel control. Without the servo controlled tailwheel/castor, I never got the rover to drive straight, because every gradient would cause the rear to roll down that gradient and the stabilisation was not strong enough to counter it. Or if I set the PIDs high enough to drive straight, the rover would totally freak out when stopping. The tailwheel control works by feeding the throttle values for the left and right motor into an arduino, which then calculates the tailwheel angles with a little trigonometry and sends out the PWM value to the tailwheel servo. It also tried to use throttle and groundsteering values, because this would make the calculation easier, but each time I setup throttle and steering on output 2 and 4 (1 and 3 are going to the ESCs), I got different results. Sometimes the throttle would only go to +/-50 from neutral, or the steering value would jump around randomly. Yes, I know skid steer and conventional steering output at the same time is not supported and tested.

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Serial out NMEA EKF

November 7, 2018, 6:17 pm
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@Max_Ruschel wrote:

Good evening, everyone, I’m from Brazil and I’m an ardupilot enthusiast. I would like to know the community staff if I have a “nmea” already processed in EKF at Pixhawk. Some serial exit with “nmea” that has passed through the EKF

I looked at the group but I did not find it. Sorry my english, him and google translator

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Dc motor to apm 2.6

November 8, 2018, 4:07 am
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@aspa97 wrote:

Hi, can someone help me? Can we connect dc motor to apm 2.6? If can it’s hard to connect the dc motor to apm 2.6. Im using only one dc motor and i also want to make it auto

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