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Pixhawk, Arduino Uno and L289N motor driver

February 20, 2019, 1:04 am
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@hajimss wrote:

Hi everyone,

I am currently planning to create a an autonomous rover that uses Pixhawk 2.4.8, Arduino Uno and L289N motor driver to power and control the motors of the rover.

Is it feasible to interface these 3 components?

Firstly, the Pixhawk is used to plot the path on the virtual map and coupled with sensors for obstacle avoidance abilities. The Pixhawk is connected to the enA and enB input of the L289N motor controllers to control the stop and go motion of the motors. Next, the Pixhawk is also connected to the analog input to the Arduino.

The Arduino then reads in the analog input and sends out PWM signals to the input 1, 2, 3, 4, of the L289N motor controller. This is to control the left and right turns of the rover.

L289N motor controller is used because we are using 24V motors, and connecting the motors straight to Arduino which is beyond the capable voltage of the Arduino Uno. Also, it can facilitate the left and right turns of the rover.

Thanks in advance.

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ChibiOs on rover 3.5

February 20, 2019, 2:37 am
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@Michael_Silke wrote:

Hi,
After playing with ChibiOs for the past 3 weeks i must say im impressed how evrything works and how good it is. Cant find any big problem with it . I wand to say Big thx to all the people that invest all there time to making this work so well. THX

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Gps boat rudder control for torpedo

February 20, 2019, 11:42 pm
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@Colindo wrote:

Hi, I want to install a gps control rudder on my torpedo to take a long line out to sea. I have an apm 2.6 and want to know how to set mission planer to operate a servo to turn the rudder so to guide the torpedo directly out from the beach, adjusting the course to combat the effect of the tide. The prop motor is manually switched on via a timer and after the preset time the motor stops. I want the gps to look at a point about 3k out to sea. The long line is 1.5k long. Is there someone that can help me with this project

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Flight mode failed

February 22, 2019, 12:33 am
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@vinoba_jadhav wrote:

Hi
I m working on lawn rover using version 3.5 in encoder Mode.i have done all setting parameter for the encoder.when i try to change mode it shows “flight mode change failed”…and one more when i m using version 3.2.1 then its work well.its not working 3.5.03_5_0_encoder.param (13.3 KB)

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Interesting programming project

February 22, 2019, 9:35 pm
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@maxbirley wrote:

Hi guys I have not visited this site for some time as I have been working on our own autonomous rtk controlled robot. We are using an Arduino Due with a companion Raspberry pi. Most of the code is already written and the bots drive quite well. Obviously some improvement is required.
Life is such that our main programmer is a bit drowned with family and real work and we need some help to continue to move ahead. If any one with good C++ and python programming skills would like to join our little team please let me know. Many apologies if it is not appreciated to ask on this site however I am sure the skills are here and I dont know where to go to find dedicated people.

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Autonomous Floating Sauna

February 24, 2019, 10:54 pm
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@silmakka wrote:

Hey everybody. I was thinking to make the GPS guidance for my floating sauna. (Technically this can only be thought of as a big boat) I could do the control in the same way as in the example I found on the Internet. https://imgur.com/a/1fFaJ5Q In this example, is used a car air conditioning magnet switch to make traction on the shaft and, if desired also off. The windscreen wiper motor is used in the example. I thought I was using a high torque servo motor. Which solution would be better?

For throttle control, I was thinking of using two linear motors. One would handle the gear and the other would handle the throttle. As a autopilot hardware I planned to use Pixhawk 4 mini. Here’s a planned hardware.

I have some mechanics skills as well as electronics but no experience with ardupilot yet. So I would like you to question my plan and point me to right directon ! :slight_smile: Thanks !

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Making Follow mode work

February 27, 2019, 12:58 am
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@count74 wrote:

@rmackay9

Hi Randy,

I wonder if you could share the setup steps, that are required to make Follow mode work. I have two rovers running Ardurover 3.5 and they both have companion computers running mavlink-router. At the moment, one rover provides an access point, where the other rover can connect to, or they can both connect to another access point, running on my laptop or my phone. I can forward the telemetry from any of the rovers to the other one. They both have different MAV IDs. What else do I need to do?

Thanks,

Sebastian

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What's an Arduboat?

February 27, 2019, 7:48 pm
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Skid Steering 1PWM for 2 motors in 1 esc?

February 28, 2019, 12:10 pm
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@ahmetomer wrote:

Hello,
Since my stock ESC sucks I’ll buy a new ESC for my 540 brushed DC motors for skid steering.
However it looks like 1 channel(1 pwm only ) And as far as i understood, pixhawk needs 2 different pwm’s from the ESC to complete skid steering. Or is there a workaround?
esc https://www.promodelhobby.com/urun/fircali-80a-320a-rc-esc-7-2v-16v-fanli-2s-4s

I plan to switch to a 2s or 4s Lipo as this ESC supports lipo.
my rc boat: double horse 7006 (92cmx32cmx32cm)
stock battery: 12v nicd 1900mah 650grams
Flight controller: pixhawk 2.4.8
RC kit : 9x turnigy 9ch

Or should I buy 2 separate ESCs that supports up to 11.1V Li_po and change it to lipo?(12V nicd ones are way more expensive). I really can’t build a rudder. I know i’m too newbie for it.
Will arduboat(rover) on pixhawk work with 2 ESCs for skid steering?

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Conditions of RTKFixed

February 28, 2019, 10:35 pm
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1 minute Sink preventing method rc boat

March 1, 2019, 2:04 pm
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@ahmetomer wrote:

I wanted to share it here. I bought some 4cm,2gr each Styrofoams. They perfectly fit in without bending or pushing. 9x2 plus 1 bonus. They are locked in there. Was a bit hard to push them in. Now they move a little inside but they don’t go out. I hope my boat will never take water nor have a crash but it is better to be safe than sorry. I don’t think ballon idea makes sense.




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Maintain compas heading when turned on

March 2, 2019, 8:37 pm
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@dailyroach wrote:

Is there a way to have set things up so as when the pilot is turned on it simply holds the current compass heading until turned off ?

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Skid Steering / Differential Thrust on boat

March 3, 2019, 2:24 am
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@JoeHaase wrote:

Good day all! After several years and rebuilds, our 4-H club successfully built and ran a 6 foot kayak for lake mapping.

https://scontent-lga3-1.xx.fbcdn.net/v/t1.0-9/34623119_799966416861775_1755963109425545216_n.jpg?_nc_cat=107&_nc_ht=scontent-lga3-1.xx&oh=d81b30edc0b1ca62b4567819df17bdb0&oe=5D1D280B

We had to have a platform that tracked incredibly straight, and wouldn’t tend to be blown around by wind or waves. This hull shaped has worked out amazingly, as it runs like a arrow through the wind. In order to get it to turn, we had to build a rather large rudder and hook it to a large waterproof servo.

While it turns great, and we were able to tune it fairly well to hold a course over a long distance, the rudder has proven to be the weak link. The linkage hardware and servo control horns just can’t stand up to heavy use, and being moved around for presentations. The slightest bump will cause it to break, and I have had to go swimming more than once to get the project back.

Since it’s powered by a single T200 BlueRobotics thruster, and has a fwd / rev ESC, I have been thinking of doing a skid steer setup, and doing away with the rudder all together.

My only concern is if the skid steer is forward only, or if it will run one motor in reverse. It takes A LOT of effort to get the hull turning, and the thrusters are going to be fairly close together.

Does anyone have any experience with this, or can recommend heavy duty, reliable hardware for steering control??

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Dual Motor controller selection advice

March 5, 2019, 10:21 am
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@Christopher_Milner wrote:

Building a robotic lawn mower, skid steer. Propulsion with Electric Wheelchair Motors. 24V system for the motors. All up weight about 250 lbs.

I’ve combed through the forums and it seems that either a RoboClaw 2x30A Motor Controller or a Sabertooth dual 32A will work with my Pixhawk 4 running Rover 3.5. Aside from price it seems the Roboclaw has integrated decoders, hence off-the-shelf closed loop control, while the Sabertooth requires the Kangaroo x2 motion controller if I decide I need the controller to do the closed loop control. I’m planning on building encoders on the motor shafts directly (shafts turn 3600rpm). My thinking is to build and run without closed loop control, then, start by feeding encoder data directly to Rover (which I understand it will use in position estimation if I’m running EKF3).

Aside from price, does anyone know of any pluses or minuses or considerations I should be aware of when choosing the motor controller? Any experience with cheap no-name brands?

Thanks in advance…

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1 battery, 2 ESCs without PDB

March 6, 2019, 7:18 am
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@ahmetomer wrote:

Hello

is it possible to run the system with using only the XT60 power module?
There is only 1 out for the power? My battery is NiCd and I don’t think i will upgrade it to LiPo(maybe to Nimh). What is the suggested diagram? Or do i just need to get any power distribution board?

thanks!

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RGB Status LED turns off in boot sequence

March 6, 2019, 8:50 am
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@webbhm wrote:

I am running Ardurover 3.5.0 on Raspberry Pi, Navio2 hardware. Current testing is indoors with no GPS signal.
The status RGB LED on the Navio2 board comes on when first booting (not a hardware problem), then shuts off about the time that the Sik radio starts up (via USB). I can arm and run the motors via the transmitter.
Is there a parameter I am missing to turn on the RGB LED? The LED was working when I ran Arduplane.
Thx

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4WD rover with direct drive

March 7, 2019, 5:48 am
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Rotary Encoder Freeze pixhawk

March 7, 2019, 10:17 am
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@Tblk wrote:

Hi all, I’m runing a quadrature rotary wheel encoder with 200 PPR on pixhawk 2.1 (Rover 3.4.2).
Everything is working great but at high RPM Mission Planner freeze and the rover is driving at the last speed he had without being able to stop, the joystick is not working, can’t change mode and even when i disconnect the telemetry he just keeps going (i have failsafe enabled).
It seems to me that the encoder pulses overload the cpu and make my pixhawk freeze.

I tried ignoring the interrupts and refer only to 1 out of 5 interrupts, what i saw is that i can drive at higher speeds but there was a higher delay in commands the faster i go.

Thanks.

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Affordable transducer for autonomous boat

March 8, 2019, 3:20 pm
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@evan wrote:

Hi there, are you looking for a transducer for your autonomous boat that doesn’t cost thousands of dollars? So was I. This is how I set up the $300 Airmar DST800 triducer. Hopefully you find this helpful :slight_smile:

setup:
-mission planner 1.3.62.1 build 1.3.62.1 ArduRover V3.4.2
-airmar dst800 triducer (nmea 0183 version) http://www.airmar.com/uploads/brochures/dst800.pdf
-pixhawk px4
-rs-485 to ttl converter (any one with MAX485 chipset will do but this is the one i used) https://www.amazon.ca/MAX485CSA-Converter-Integrated-Circuits-Products/dp/B06W9H64TN/ref=sr_1_fkmrnull_1?keywords=rs485+to+ttl+lc&qid=1552083892&s=gateway&sr=8-1-fkmrnull

Wiring:

PNG
transducer.PNG.jpg871x531 72.4 KB

Mission Planner Parameters:
RNGFND_MAXCM = 700
RNGFND_MIN_CM = 50
RNGFND_ORIENT = 25
RNDFND_TYPE = 17
SERIAL2_PROTOCOL = 9
SERIAL2_BAUD = 4

Troubleshooting:
I used a rs-485 to USB converter to plug into my computer. to view the NMEA messages simply open putty (windows), select the appropriate com port (you can check in device manager on windows) and select 4800 baud rate. You may need to swap around the NMEA A and B cables to get it to work. You can google a NMEA 0183 sentence guide to decode the message.

I hope this helped, best of luck

Evan

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Skid steering problem in automode

March 11, 2019, 3:39 am
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@halim_zaaim wrote:

I have a boat, skidsteer with 2 blue robotics t200 thrusters. Everything is ok in manual mode. If I put it in auto mode, it heads to the way points like a snake (not straight). As soon as I flip it back to manual, it’s all good. Any ideas?

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