November 29, 2018, 6:43 am
@Yu_Chen wrote:
Dear friends,
I have a steering boat(with 2 thrusters, no rudder) which is using Pixhawk as a hardware controller, and using the ArduRover as firmware and mission planner as GCS. It functions very well in manual mode, but when I switch to auto mode and make it follow the waypoint, it does not follow exactly. I followed the ArduRover wiki to tune the controller but it still not good.
For example, here I did an experiment in a pool with a size of 10m * 25m, and it is in Auto mode:
- In the first video, here is the link: experiment 1 I made it to go straight to reach the only waypoint, the direction is roughly correct, but it just cannot be exactly where it should reach.
- In the second video, experiment 2I made 2 waypoints, but it seems after the boat “roughly reached the 1st waypoint”, it cannot turn its head to the 2nd waypoint and struggled to reach it.
Here I also attached the log filebin file here in the post. The May I know is it because of the controller problem? Which parameter should I tune in order to get good results?
Btw, the boat is about 1.8 meters long, and it is really heavy with a weight of 90kg. And the weather is quite windy on that day which also cause waves in the pool.
I have been struggling with this issue for a few months, hope to hear from some suggestions to solve this problem. Thank you!
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November 29, 2018, 1:30 pm
@greenhall wrote:
We’re getting a constant “Bad LIDAR Health” at pre-check for our UGV using VL53L0X. Sonar otherwise seems to be calibrated and functioning as expected.
What conditions throw “Bad Lidar Health”?
I found some bug fix mentions but all closed.
Any ideas?
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November 30, 2018, 8:05 am
@vooteleaer wrote:
Hello
I have trouble setting up skid steering with Navio2 hardware.
I set servo1 function to Throttle left and servo2 to throttle right. Also set mot_pwm_type to brushed with relay.
I disabled all arming checks and armed the vehicle.
Nothing at all in manual mode. Zero pwm output. I trued both qgroundcontrol and mission planner.
I was able to trigger servo5 and servo6 manually in Mission planner, but that’s all.
Also, where to connect reversing relays for Navio2?
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November 30, 2018, 11:08 am
@capt wrote:
I have a setup where an arduino sends commands via mavlink to pixhawk from this git:
Up to ardurover 3.1.2 I could send a command via code that would put the Pixhawk into manual mode as well as auto mode.
Starting with AR 3.2.0 and on, I can no loger send a command to put the pixhawk in manual mode. Oddly, I can send a code that will put the pixhawk in auto mode.
I realize it is a shot in the dark to post here hoping to find an answer, BUt every other function I have works:
- I can update/change waypoints all the way up to AR (Beta) 3.5
- I can cmd to turn pixhawk to auto all the way up to AR (Beta) 3.5
- I can cmd telemetry dump from the pixhawk all the way up to AR (Beta) 3.5
- I can reboot px4 via command all the way up to AR (Beta) 3.5
- I can clear waypoints via command all the way up to AR (Beta) 3.5
The one thing i cant do is comand it to manual. I have been beating my head against the wall over this since I really want to upgrade to 3.x.
Any insights, tips, incantations, or holiday spirit is welcome!
Thanks!
edit: updated to proper git link
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November 30, 2018, 10:02 pm
@Usama_Saleem wrote:
HI,
i am currently doing my final year project. The project is about tricycle which moves in some predefined track that is why i am using APM. i just want to know is there any way to stop the vehicle at any waypoint according to your interest at any point in automode by using a phone.
kindly reply me.
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December 1, 2018, 3:02 pm
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December 3, 2018, 2:26 am
@BrianP wrote:
Hi, first post so go easy if I’m asking dumb q’s please…
I have a rc bait boat/camera boat that I want to drive out onto the lake and stop at a point and hold station at that point. (while I lower a rc camera sled to mid water or the lake bed and take some photos of Carp)
I guess GPS is part of the answer but reaching the exact point and holding station at the point is beyond me at present.
Can you point me to hardware and software(win7), plus a primer, that would do the job ?
(searching the web has got me here after reading a little about Rover stuff)
Last point… no big budget parts thanks, I’m a keen inventor and do most stuff on a shoestring!
Thanks for reading this far!
BrianP.
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December 3, 2018, 7:02 am
@ecabanas wrote:
Hi,
I’m using my rover near from a dangerous area. But is it possible to eliminate in flight plan the circles of these alerts?
I think if I’m using a Rover, these warnings has not to be applied, no? and it’s very tough to plan a mission with these circles
Thanks
Eduard
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December 3, 2018, 7:05 am
@ecabanas wrote:
Hi
I loaded yesterday my first mission on my rover, but after arm the rover and confirm the mission, the rover started to make circles…and that’s it.
It could be possible that something is wrong in altitude? making circles, it feels like the rover wants to gain altitude.
Thank’s for your help
Eduard
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December 3, 2018, 11:19 am
@LoopZilla wrote:
Is DO_SET_MODE supported in ArduRover (frame_class=2, boat)?
If so, I am setting Param1 = 4 (HOLD), and it doesn’t seem to kick. I do see an execution of ID=172 in the messages, but nothing happens in MP (mode doesn’t appear to change).
I read somewhere that I needed to enable custom modes, but don’t see a parameter that fits.
Any thoughts?
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December 3, 2018, 4:35 pm
@Jdunkle wrote:
I have a new ballence bot on pixracer with stepper motors working fairly well still a work in progress but have had an issue with the aux 7 pwm for its use. I have a 7 character. Tx with spectrum sat rx and all channels show on radio calibration but in basic parameters the option is not highlighted (blanked out). I have tried different versions. 3.5 dev and now 3.5 rc1 with the same affect. Not sure if its pixracer not supporting 7 channels. Any ideas would be great as I want to use the aux for arm disarm so I don’t have to use a telem. radio.
Jack
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December 3, 2018, 7:36 pm
@camow7 wrote:
Hi,
I’m running Ardurover on a Pixhawk one. I want to read sensor values off the ADC and send them over Mavlink. Is this possible? Much to my surprise, all the digging I have done seems to imply it’s not? Yet, in the header files for Mavlink I can see ADC mesages?
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December 4, 2018, 2:47 pm
@Anelito wrote:
Hi,
I’m trying to create a new MAVLink message for AIS collision avoidance but I keep getting compilation errors in files I didn’t touch at all.
Do you have a clue why? Thank you
../../libraries/GCS_MAVLink/GCS_Common.cpp: In member function 'void GCS_MAVLINK::handle_set_mode(mavlink_message_t*)':
../../libraries/GCS_MAVLink/GCS_Common.cpp:1457:80: error: too few arguments to function 'void mavlink_msg_command_ack_send_buf(mavlink_message_t*, mavlink_channel_t, uint16_t, uint8_t, uint8_t, int32_t, uint8_t, uint8_t)'
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
^
compilation terminated due to -Wfatal-errors.
Waf: Leaving directory `/Users/giammarco/Desktop/ArduPilot/ardupilot/build/px4-v3'
Build failed
-> task in 'objs/GCS_MAVLink' failed (exit status 1):
{task 4349099736: cxx GCS_Common.cpp -> GCS_Common.cpp.0.o}
(run with -v to display more information)
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December 5, 2018, 11:31 am
@Jeffrey_To1 wrote:
HI, I would like to add something like an “Elevator” to help the boat to go through waves while launching from the beach with an servo to control it. Is it possible? I basically just need the “Elevator” to stay horizontal. Would you mind to show me how please?
Regards
Jeffrey
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December 7, 2018, 2:55 am
@vinoba_jadhav wrote:
hi , i m running rover 3.5.0 in sitl with mission planner .bt sitl work on non skid steering mode if i hv change param skid_steer_type =1 .then also my rover can’t moves in skid steering mode.also can any one help me regarding how to load older sitl version .
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December 10, 2018, 1:26 am
@ecabanas wrote:
Hi,
I started to test the rover and I program a simple path,
Waypoint 1, after 10 meters turn 90º right to WP2 and 10 meters plus, then turn right 90º and return
The problem is the path is not regular and exact! the gps calibration is in green and everything ok. But the rovers did the path roughly, not reaching exactly the WP, and doing curves, not straight lines
thank’s for your help
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December 12, 2018, 2:20 pm
@autoboat wrote:
My boat steering has highly nonlinear response. It is a race boat set up to compete on an oval course. It pulls 7.5 g to 8 g to the right with little servo angle but struggles to pull 2 g to the left even with a lot of servo angle. I expect this would make it difficult to keep the control loop stable.
I imagine I need to add my own code or else make a request to include a linearizing transfer function. Could someone please point me in the right direction how to do this? Which parts of the code would I need to dive into exactly?
I have general programming experience and a basic understanding of control systems, but I’m new to Ardupilot and struggling to understand where everything is.
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December 14, 2018, 1:48 am
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December 14, 2018, 10:22 am
@John_Easton wrote:
In the link below are the logs as well as the KML path (Google Earth) files showing two ‘missions’ on the same Flight Plan.
One is 99% perfect except for one waypoint ‘Oops’, and the other is just not acceptable at all.
The hardware is exactly the same in both ‘missions’.
Nobody to date has been able to work out why the one has wobble and the other one not.
IS THERE ANYBODY OUT THERE THAT CAN WORK OUT WHY?
DropBox Files
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December 16, 2018, 7:53 am
@lacks wrote:
Hello,
My team is using a Nvidia Jetson TX1 and a Pixhawk with Arudrover. We are attempting to navigate a rover in a Guided mode using the Intel Real Sense Stereo Camera. We are having some trouble sending commands to our Rover in Guided mode.
Here is the command we are sending:
rostopic pub -r 10 /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/Twist ‘{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}’
The rover starts out going a normal speed and then slows down to zero. It does the same thing the next loop but increases its speed each iteration until it goes uncontrollably fast. We tried tunning the PID by increasing P at first and increasing I but there is little change.
The video link here demonstrates the issue we are running into:
The two issues we are facing:
- Why does the rover stop each loop? Why is it not moving forward at a constant speed as it should be?
- Why is the speed not staying constant and blowing up exponentially each loop?
Any help would be much appreciated. We have a demo for our project on Tuesday.
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