@RezaB wrote:

Hi,

I am currently building a USV based on the omni-x configuration. I have set everything up as instructed here: Support for Omni Boats coming in Rover-3.5, however there is no response to the thrusters regardless of what I do.

I looked at the MAVlink telemetry field and found that the SERVO_OUTPUT_RAW doesn’t change from 1500(neutral). Why is this the case and how can I fix this?

Reza

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@leonardocf wrote:

Hello, I have been trying to set a traxxas slash with ardupilot 3.4.2 and I keep having a bad AHRS message. I have been checking all kind of posts and nothing seems to work. Given this message, I can’t arm the vehicle and if I disable the ARMING_CHECK parameter I can arm it but then it starts moving like crazy. In fact, last time I tested it, it started moving backwards.

Any help will be highly appreciate. Thanks in advance

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@Wong_ShuJun wrote:

Hey guys, I am trying to upload Ardurover 3.3 into my Pixhawk, but i keep getting this error message.

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@spongespider wrote:

Hi There,

I’m having trouble with tuning the steering rate and getting my rover to head to a way point.

I have a 6WD thumper chasis with two separate ESC’s controlling the left and right side respectively. I’m using a Pixhawk 4 which is running ArduRover V3.5.0-dev (1b46104a). The rover works fine in manual mode.

In the attached log, I took the rover outside and tried to get it to drive a path with a couple of waypoints. The rover would turn to a heading unrelated to the waypoint and move off in a straight line. It didn’t turn at any point.

I suspect this is because the steering hasn’t been tuned correctly. I tried following the guide on the wiki, especially the video, which was for a four wheeled vehicle with conventional steering. In ACCRO mode, my PID desired and PID achieved were the wrong way round, with my PID achieved being way higher than PID desired, and this was with the FF set quite low to 0.2.

I also find ACCRO mode to be largely uncontrollable. The rover tends to go straight into reverse and turn without any input from the remote control. In a large enough space, then I can use to remote control to have some control over it, but it’s not operating how I believe it should be.

Lastly, I’m also having trouble getting the rover to learn a cruise speed. Again, I’ve followed the wiki and assigned Learn Cruise Speed to an auxiliary switch. I get an audio confirmation from Mission planner that Cruise learning has started and I drive the rover for about 10-15 seconds in a straight line at a constant speed, but when I flip the switch back down, mission planner says that cruise learning failed. I tried this several times during the attached log.

I’m very new to this still, so I suspect I’ve got something quite basic wrong. I do have my arming checks disabled because most of the time I’m working on this in a windowless office with no GPS.

Thanks in advance for your help.

Log File

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@Rat_Fink wrote:

Hi all,

So i am getting ready to build my bot… Security with a diesel engine. Big, not as big as a tractor…

I am still getting my head around all this but what I will need is the ability to use 4g network and go anywhere.

I have seen a number of people that have done this but cant seem to find the hardware/modem/boards, etc… I am trying to het a complete list of what i need to make 4g network possible.

Any help would be appreciated
Thanks in advance
J

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@rmackay9 wrote:

After a few months of development we are ready to start beta testing Rover-3.5.0-rc1. Within a couple of hours the new version should be visible in the ground stations (including Mission Planner and QGC) using the Beta Firmwares link.

This is a major update and the list of changes is in the Release Notes and also copied below:

Changes from 3.4.2:

1. ChibiOS provides improved performance and support for many new boards including:
   a) F4BY
   b) TauLabs Sparky2
   c) Furious FPV F-35 lightening and Wing FC-10
   d) Holybro KakuteF4
   e) Mateksys F405-Wing
   f) Omnibus F4 Pro, NanoV6 and F7
   g) SpeedyBee F4
2. BalanceBot support
3. Sailboat support
4. OmniPlus, OmniX frame support (vehicles can move laterally using 4 thrusters or wheels)
5. Auxiliary Switches expanded to many channels (see RCx_OPTION parameters)
6. External position estimates accepted from ROS and Vicon systems
7. Mode changes:
   a) Follow mode (allows following another vehicle if connected via telemetry)
   b) Simple mode (pilot controls direction regardless of vehicle’s heading)
   c) Loiter can be configured to always drive towards target (i.e. does not reverse) (see LOIT_TYPE parameter)
   d) Guided, RTL, SmartRTL will reverse towards target if DO_SET_REVERSE command received (via telemetry or as mission command)
8. Bug fixes and small enhancements:
   a) RC and GCS failsafe timeout shortened
   b) Object avoidance fix to include all sectors from proximity sensor (aka 360 lidar)
   c) Safety switch ability to arm/disarm vehicle now configurable (see BRD_SAFETYOPTION parameter)
   d) Onboard OSD support (for ChibiOS-only boards)
   e) Gripper support
   f) Sprayer support

This is the very first release candidate for -rc1 so although we think it is fairly reliable, there will undoubtedly be issues so be prepared to retake control in manual modes. If you find issues, please report them in this Rover-3.5 category and if possible include a dataflash log.

There is one known issues which we will resolve in future release candidates:

• the RC7_OPTION parameter allows setting the feature controlled by the channel 7 auxiliary switch but this parameter has not been automatically populated using the 3.4.2 CH7_OPTION parameter. This means you will need to manually set the parameter to the feature you want. The Mission Planner’s Basic Tuning page may also not yet support easily setting the parameter so you may need to use the Full Parameter list or Full Parameter Tree screens.

Thanks very much for helping us beta test this new version!

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@barnhatt wrote:

Finally got my arduboat on the water today for the first time and noticed some weird behavior, for lack of a better term it was “drunk”. Kept overshooting the tartget path and way points. Logs attached any help would be awesome!

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@shahar wrote:

Hello all.

I am using a Logitech F310 joystick with mission planner and a Pixhawk.
the Pixhawk is configured to work as a Rover.

I have configured one of the sticks for roll & Throttle, and I can view the PWM changing on the Scope, on main out #1, #3, which is just fine.

I would like to use another button or stick at F310 as a trigger or as another PWM.

Is there a way to accomplish that ?

Thank you,

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@Ryan_Ho wrote:

Hi, I purchased Marvelmind Indoor Navigation starter kit two months ago. I am planning to integrate it onto the Ardurover, using missionPlanner as my ground station control. I have followed the instructions given on:

https://www.robotshop.com/media/files/pdf2/pixhawk_marvelmind_integration_manual.pdf ,

However, it still does not work. Is it ok if I send you my param file, and you guys have a look at it?

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@Kravos1 wrote:

Back story I have a skid steer boat with a 3dr pixhawk running 3.0.1 ardurover. Everything was set up and working correctly. All movement was controlled by the right joystick.

I’m now setting up the pixhawk cube, with 3.4.2 ardurover firmware. I’m trying to set up skid steer and it’s not working. I have 2 thrusters with 2 escs plugged into 1 and 3. Set up servo output with throttle left and throttle right on 1 and 3 like the skid steer set up says. I also have skid steering parameter set as 1. Servo output 1 is the only receiving movement. Output 3 is full throttle and doesn’t move.

Is there a way to mix the channels to have skid steering off one joystick?

Thanks in advance!

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@Xexu wrote:

Hello,

I’m trying to configure a Traxxas car with VXL-3s ESC.

I’ve followed the tutorials and essentially connected steer to Main-Output 1 and throttle to Main-Output 3.

PIxhawk is powered by regulator (from pixhawk) whose between ESC and battery.

When I do the test, both motors works well. (Optional HW --> Motor Test)

With my controller (FS-T6) I can control the steering smoothly, and I see in Mandatory HW–> Servo Output the movement of the green bar as I move the joystick.

But in Throttle I do not see the bar moving, and also it is not working. It seems like some @param is not configured to recieve the signal, I searched many places but I didn’t see any info helpfull.

Do you know where can I find this info?

Thanks !

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@Pokerfjes wrote:

Just curious if anyone have tried out brake diff steering for a rover. I am toying with an idea to create a belt driven rover from a lawnmower. The only way I know to make this steer is to make use of brake diff steering - something I assume can be done with a regular steering servo.
I know this steering method is somewhat ineffective, and I think this type of steering makes straight line driving difficult. But with a single engine, diff based drivetrain - I fear this is my only option.

I noticed that the chassis subforum is deprecated. Can anyone recommend a good forum for discussing rover chassis and general tech?

Thanks!

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@oceanengineer wrote:

Hello ArduPilot community,

I am currently working on a CDR report for my senior design project which is an autonomous fire extinguishing surface vessel. This vessel must autonomously navigate to the fire (target) and saturated it with 300 liters of water from each side. We will use the Pixhawk for navigation and loiter mode.

I know it uses a PID controller, but does anyone know if there is some information on the actual control system implemented? Such as the equation of motions or the transfer functions? I would like to write about it and maybe do some simulations.

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@Wan_Aqif wrote:

Hye guys can anyone guide me from a-z how to make the remote can control the motor that connected to apm 2.6.

My project is to build an autonomous boat. And the due date is this wednesday. I hope someone can help me go through all of the step. I will appreciate so much for your help.

Please help me.

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@oxillion wrote:

Hi all!

I am a novice at ardupilot, but motivation can compensate for the lack of knowledge. I’ve been wandering hours/days trough the website/forums and youtube. might be i have overlooked the answer?!

But before i make an investment in buying ardupilot hardware I want to be sure that my fairly old onboard hardware is compatible with ardupilot hardware/software. i could not find it in the list of compatible remote control/ receivers

remote control:Futuba F14 40mhz 8 channel PPM?
receiver: FP R118F
esc: Robbe Rofkraft 100µp
rudder servo: Robbe futuba FP-s148

Can somebody confirm that my hardware is compatible for ardupilot? Or point out at the problems that i will be facing?

thanks in advance if anyone can provide me the information for a go/no go…

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@mybn001 wrote:

Hi,
I need some assistance with the steering of my boat. The boat is weaving (Moving like a snake in the water) in RTL and Auto. I played around with the following settings NAVL1_DAMPING: 0.75 0.61.0 and NAVL1_PERIOD: 20 s 1 60 but to no avail.

Products used:
FC: APM 2.6
Receiver: TBS Crossfire full version
Remote: FrSky X9D Plus

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@RezaB wrote:

HI, I am trying to download a dataflash log, but I keep getting the result that no dataflash logs exist.

My process is arming the vehicle, giving the vehicle a few commands, and then disarming. After disarming, I try to download the dataflash log through Mavlink using Missionplanner, and each time get told that no logs exist.

What am I doing wrong?

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@maxbirley wrote:

My main question relates to driving an autonomous differential drive rover between 2 waypoints and staying on the track between the two waypoints

I have built an autonomous grass mowing machine for my garden. We wrote the code from the ground up. I have used pixhawk in the past but could not get it to work for our needs. Its written in C++ Arduino code. Coding is not my speciality.

It is set up to mow lanes that are 17 inches apart due to the blade size. All the software does is drives our chassis up a lane to a waypoint and then makes a 180 degree turn and drives down the next lane to the next waypoint which is located 17 inches over to one side of the first waypoint.

It uses a pair Ublox C94 M8P RTK gps with a reliable AHRS compass (with very little distortion due to magnetic or ferrous material). The vehicle follows waypoints by calculating the difference between the target heading (maths and the gps) and the actual heading (compass) and it uses the difference to send a value in a drive command to the motor controller that alters the speeds to the 2 driving wheels. this variable is called turnSpeed. the chassis is differentially driven.

After many months of work the mower drives well. The heading errors are generally below 5 degrees. However if the mower for some reasons gets off the straight line track between the 2 waypoints the code does not do a good job of getting the mower back on the straight line track quickly as it is aiming at a distant waypoint. In short, it is good at heading to a distant point but not good at getting on the straight line track between the 2 way points and then heading to the point

In order to solve this we started calculating a cross track distance error. And we use a set point of 0 cross track error and a PID to try to get the vehicle back on the straight tract between the two waypoints.

The problem now is that we have 2 inputs to the motor command variable turnSpeed. One from the heading error and the other from the PID. So this is getting real confusing.

Normally I would use the heading error variable if the heading error is greater than 2 degrees. To get the PID tuned I eased off the heading error so that the heading error only works if the heading error is more than ±20 degrees. I set Ki and Kd to zero and increased Kp until the mower went in to a stable oscillation.
I then timed the period of the oscillation for 1 complete wavelength it was 6 seconds.

I then used the following

New Kp= Kp*0.60
New Ki = Period/2
New Kd = Period/8

this gave Kp=5
ki= 3
Kd= 0.7

before this I did many other runs and got poor control response. After running this the mower is still in an oscilation.

I would really appreciate some help here.

1 what are the general mathematical concepts that need to be employed to drive a differential drive robot along a straight path between 2 waypointsand minimize the cross track error.

2 Can we expect our method to work when with have 2 inputs to the same variable, heading error and the PID

3 Do you have a rule of thumb method to tune the PID

Any help on this will be appreciated

regards

Max

PS Max, you don;t have to be sorry to be new on the site. Welcome welcome, thirst for knowledge and understanding is what we do here!

I have built an autonomous grass mowing machine for my garden. We write the code from the ground up. Its basically C++ Arduino code. Coding is not my speciality.

It is set up to mow lanes that are 17 inches apart due to the blade size. All the software does is drives our chassis up a lane to a waypoint and then makes a 180 degree turn and drives down the next lane to the next waypoint which is located 17 inches over to one side of the first waypoint.

It uses a pair Ublox C94 M8P RTK gps with a reliable AHRS compass (with very little distortion due to magnetic or ferrous material). The vehicle follows waypoints by calculating the difference between the target heading (maths and the gps) and the actual heading (compass) and it uses the difference to send a value in a drive command to the motor controller that alters the speeds to the 2 driving wheels. this variable is called turnSpeed. the chassis is differentially driven.

After many months of work the mower drives well. The heading errors are generally below 5 degrees. However if the mower for some reason gets off the straight line track between the 2 waypoints the code does not do a good job of getting the mower back on the straight line track quickly as it is aiming at a distant waypoint. In short, it is good at heading to a distant point but not good at getting on the straight line track between the 2 way points and then heading to the point

In order to solve this we started calculating a cross track distance error. And we use a set point of 0 cross track error and use a PID to try to get the vehicle back on the straight tract between the two waypoints.

The problem now is that we have 2 inputs to the motor command variable turnSpeed. One from the heading error and the other from the PID. So this is getting real confusing.

Normally I would use the heading error variable if the heading error is greater than 2 degrees. To get the PID tuned I eased off the heading error so that the heading error only works if the heading error is more than ±20 degrees. I set Ki and Kd to zero and increased Kp until the mower went in to a stable oscillation.
I then timed the period of the oscillation for 1 complete wavelength it was 6 seconds.

I then used the following

New Kp= Kp*0.60
New Ki = Period/2
New Kd = Period/8

this gave Kp=5
ki= 3
Kd= 0.7

before this I did many other runs and got poor control response. After running this the mower is still in an oscilation.

I would really appreciate some help here.

1 what are the general concepts that need to be employed to drive a robot along a straight path between 2 waypoints. Especially to get back on. This is my main question. You seems to have cracked this very well
track if it gets off track

2 Can we expect our method to work when with have 2 inputs to the same variable, heading error and the PID

3 Do you have a rule of thumb method to tune the PID

Any help on this will be appreciated

regards

Max

PS Max, you don;t have to be sorry to be new on the site. Welcome welcome, thirst for knowledge and understanding is what we do here!

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@Strongbad71 wrote:

I have a strange issue that I just noticed. Traxxas enabled with Pixhawk2 and Ardurover.

When I move the throttle back and forth, at first, I see no movement of the front wheels. After a few forward and backward throttle movements, I being seeing the front wheels start to steer. The more I do this, the more the steering angle becomes, like it is adding up… cumulative. If I let go of throttle, the front wheel will stay in the turned position. Moving the steering will reset it. Also letting it sit for a few seconds, it will straighten on its own.

Is this a known issue? I can give more setup info, but perhaps this is something I can tune out? That would be odd though.

Derek

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@David_Boulanger wrote:

I just upgraded from 3.4.2 to 3.5rc1 on a power catamaran. I’m seeing a little bit of questionable behavior. There will be a link to a short log at the end of this. If I put the boat in auto with no waypoints stored, initially it just sits quite but after about 5 seconds the motors turn on. Mission Planner states I am in Auto, instead of Hold with no waypoints stored. I have repeated this over and over and it should be in the log. Other problem which is less frequent and not in this attached log, I have it in some others, is when going from Manual to Steering the motors sometime run for a period of time for no reason. This is all inside and not out on the water.
https://1drv.ms/u/s!AgqdUNhfFlnDgbQDGzBfROkGInUCdw

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