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Jumps in pose when using Marvelmind beacons

March 11, 2019, 6:30 pm
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@ajith_kumar wrote:

Hi team,

I am currently working on Marvelmind beacons.
I am facing some strange issue that the pose given by the ardupilot after EKF3 fusion is inconsistent. The pose jumps from one place to another consistently. Also, I could observe there is a pattern in the jumps. These jumps extend up to +/- 2m even when the vehicle(pixhawk2 based rover) is in the stationary state.
The position values given by the Marvelmind beacons are correct. I visually confirmed it in the Marvelmind dashboard.
I suspect there should be a problem somewhere in the EKF3.

Has anyone successfully got the Marvelmind beacons work properly with ardupilot?

Please help me to resolve this issue.

Thanks,
Ajith Kumar

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Autonomous Electric Quad Bike

March 14, 2019, 7:17 pm
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External Wifi Communication between Companion RPI3 and PC

March 18, 2019, 1:46 am
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New ESCs: Do i need to setup the transmitter for the differential thrust first?

March 20, 2019, 6:14 am
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@ahmetomer wrote:

Hello,
Bought 2 new esc’s. For 2 motors do i need to mix 3 channels in the transmitter first like in the youtube videos? Or do i just need to wire the Pixhawk and to the config on the GSC software?

Is the right motor and left rotates in the opposite directions?

The esc is reverse capable but these are brushed motors and I don’t need this right?

I really got everything but i just don’t want to burn stuff. Thank you for the support!

(I’m aware of cutting the power line of BEC’s to pixhawk when connecting)

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Encoder frequency/granularity design - robotic lawn mower

March 20, 2019, 2:02 pm
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@Christopher_Milner wrote:

How granular should I design my encoder feed to EKF3 to be? One pulse per 0.1" vehicle traveled? One pulse per 1"?

On my rover with wheelchair motors, I could put a standard 12 PPR magnetic encoder on the (3.5k rpm) shaft of the motor, producing about 40k pulses per second, x 2 motors = 80k interrupts per second. Will this be too many for my Pixhawk 4? The encoder accuracy into EKF3 would be very high, each pulse would correspond to about 0.1" traveled by the vehicle.

Alternately I could put the encoder on the shaft and build an optical encoder at 4 ppr, bringing the encoder frequency down to about 13k per side, 26k total, with one pulse per .3".

Alternatively I could put a 20ppr encoder on the output of the wheelchair motor, which turns much more slowly, about 140 rpm. This would produce 2.8k pulses per second per side, 5.6k Hz total, corresponding to about 1.4 inches per pulse.

And so on.

Can anyone recommend where I should start?

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Need Help With Parameters Arduboat

March 20, 2019, 5:08 pm
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@Andy_Santiago wrote:

I have Been fighting myself for a week trying to get parameters right and everything to work correctly and I cant. It’s a simple setup two bluerobtics ESCs With Thursters pixhawk with 3DR External compass using a futaba 7C. I would be willing to pay someone if they can help me get this thing going.

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Steering servo or motor only one works at a time

March 23, 2019, 9:12 am
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@prohitt wrote:

Hello!

I’m using L298N motor driver for dc motor and a steering servo. I’ve loaded Rover 3.4.2 in Pixhawk 2.1.

When I set MOT_PWM_TYPE parameter to 0(normal) and on arming the steering servo responds to radio input but not the throttle.

Now when I set this parameter to 4(brushed bipolar) or 3(brushed with relay) with same connections, the motor works fine but servo doesn’t respond.

Overall, steering or throttle only one works at a time.

Please can anyone help me fix this issue?

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Skid Steer Tuning Mode

March 24, 2019, 5:29 am
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@shubham9646 wrote:

Actually I’m into Ardu rover project but I’m stuck in one a question related to PID tuning. So my question is : Is PID tuning of Steering and Throttle mode is it same in case of Throttle left and throttle right ?

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How to use 4ch Receiver?

March 24, 2019, 7:58 am
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@miw01 wrote:

Hi,
I want to use FUTABA R314SBE,4ch SBUS2 Receiver with Pixhawk1 and Rover 3.5.
This Receiver outputs 1ch as Steering, 2ch as Throttle, and 3ch as switch.

I set RC_MAP to set 1ch as Roll, 2ch as throttle, 3ch as pitch, also 1ch as Yaw.
It works well that I can do Arm/Disarm.
But, mode channel is not set. Because, mode channel is limit as 5,6,7,8ch.

So, I changed the code of RC_Channel *RC_Channels::flight_mode_channel() to return 2 to set 3ch as mode switch. And I set Fight mode 6 as Auto. It works well.

I think this method is not smart and there may be some problems.
Is there any other way to use the 4ch receiver in software?

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Skid steering not full throttle?

March 25, 2019, 12:45 pm
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@Json wrote:

I don’t know if I’m doing something wrong but I’m only get a range from 1500 – 1700 forward and 1500 – 1300 backwards from the pixhawk ch1 and ch3 at full throttle? Is this correct, if I turn left or right the I get the full range of 1100 – 1900. I mean I lose a lot of power forward and backward if this is the case? Or I’m doing something wrong?

Or is this because of the steering function, that you have throttle left so you can steer at full throttle. But in that case is it not better to just reduce throttle on one engine if you steer at full throttle, or?

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Trigger bait boat trigger

March 26, 2019, 2:44 am
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@Marcel_Bittner wrote:

I hope that you can possibly help me with my pixhawk. I have such a bait boat. I would like to accomplish that the flaps automatically go as manually on the flaps will fire you servos. I can control the servos via servo function to 0 with the command do set servo after the waypoint but if I want to do that manually I have to set the servo function to 1 so I run it via the remote control. Sorry for the english writing on the translator of google.

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UAVCAN ESC in Rover

March 26, 2019, 3:47 am
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@albertr wrote:

Trying to setup Separate Steering and Throttle mode with UAVCAN ESC (VESC) and Cube 2.0 black. Does Rover work with UAVCAN ESC? How can I make Throttle to send uavcan.equipment.esc.RawCommand() ?

-albertr

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How to store waypoint manually

March 26, 2019, 7:41 am
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@ecabanas wrote:

Hi,

I would to like to go manually and store the waypoint via Radio, is it possible or is deprecated?

Thank’s for your help

Eduard

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Changing Power Order

March 26, 2019, 11:41 am
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@Kravos wrote:

Hi,

I’m currently trying to change the power order of the pixhawk 2 cube. Currently it’s set up for power 1, power 2, usb. I would like to have usb first, then power 1, power 2. I haven’t been able to find any information regarding if its a hardware or software change.

Any insight would be appreciated,

thanks!

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Loiter Mode and Maintaining a compass heading

March 28, 2019, 7:29 am
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@jlowe2013 wrote:

I am using the Cube Pixhawk 2 with Mission planner on a boat with 2 t100 blue robotics thrusters and trying to navigate to a waypoint, enable loiter mode, and have the vessel station keep and maintain a given heading. The boat makes it to the waypoint fine and goes into loiter but I don’t know how to specify a certain compass heading for it to maintain in mission planner. Any help on this would be greatly appreciated.

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Automatic charging

March 29, 2019, 11:12 am
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@Jeffrey_Berezin wrote:

I’m building a rover with electric wheelchair chassis/24v for lawn use. I have rtk gps and companion computer (PI) and pixhawk 2.4.8. I am planning to build an auto-charging dock and want to know if there is anything out there to help accelerate this process before I recreate the wheel.

If my rtk gps is not good enough, I was going to use a raspberry pi to read square fiducial markers, as discussed here: https://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html

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Bad AHRS on boot

April 1, 2019, 6:19 am
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@joseph wrote:

ArduRover 3.4.2 Cube with Here2 GNSS.
Okay, so I know it’s been said before but I can’t find the solution. Bad AHRS. it does not matter if it has a good GPS lock or not. I have even reset the board and reconfigured from scratch. Any suggestions would be helpful
Joe

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First Run of a Nice Implementation of Autonomous Zero-Turn Mower

March 31, 2019, 1:14 pm
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@ktrussell wrote:

A couple of months ago, Dave (@metalsman) contacted me. He and his son have been working on a zero-turn mower similar to mine. We compared a lot of notes and learned from each other via Skype and Facebook Messenger. At that time Dave was not to the point of running his mower in automatic. He has made huge progress and now has an operational automated mower. Here is his first run!

Some of his design features:

  • The actuators are assembled on a frame that is easily removable from the mower to allow manual operation and to allow work on the actuator subsystem on a bench.
  • He is using a Raspberry Pi running Solex Base (hope I have that right) to inject the RTK correction info into the MAVLink stream. The Raspberry Pi is also acting as a WiFi access point allowing multiple computers, tablets, etc. to connect via UDP.
  • Hefty (though a little expensive) Torxis servos.

In addition to a nice design and implementation, luck was on his side, too. Without ANY change to the tuning parameters, look how well his mower is tracking for its very first run. Look how snappy and perfect his pivot turns are. Dave is on his way to a great machine!

Dave, we look forward to more videos and other information!

Congratulations, Dave!

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servo or throttle, only one works at a time.

April 1, 2019, 7:27 am
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@immeet wrote:

Hello!

I’m using L298N motor driver for dc motor and a steering servo. I’ve loaded Rover 3.4.2 in Pixhawk 2.1.

When I set MOT_PWM_TYPE parameter to 0(normal) and on arming the steering servo responds to radio input but not the throttle.

Now when I set this parameter to 4(brushed bipolar) or 3(brushed with relay) with same connections, the motor works fine but servo doesn’t respond.

Overall, steering or throttle only one works at a time.

Please can anyone help me fix this issue?

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iPhone app that helps with large rover (mower) Compass calibration debugging

April 1, 2019, 4:46 pm
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@Christopher_Milner wrote:

On my large rover, compass calibration is impossible when the GPS puck and the PX4 are close to the vehicle. If I unplug them and move them a few meters away, everything is fine. In trying to determine where to put the GPS puck and/or Pixhawk (i.e. the compass or compasses), I wanted to know where around the vehicle the magnetic field is distorted by motors, batteries, steel tube framing, etc., I found this app Sensor Kinetics: https://itunes.apple.com/us/app/sensor-kinetics/id579040333?mt=8 It displays on my iPhone the magnetic fields in a real-time chart. Very cool. So it became a no-brainer to measure the mag fields around my rover and determine where (seems like 4-5’ away, vertically) the mag fields are not distorted and hence a safe place to mount the magnetic compass.

@ktrussell you should check it out!

Hopefully this lesson will be useful to someone else. Without that app, after all, it’s quite difficult to see the magnetic fields…

Happy tinkering,

Chris

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