@sengo wrote:
Excuse me when I set up to Skid Steering
For “Skid steering” vehicles (like R2D2) these parameters values will need to be set:SERVO1_FUNCTION = 73 (Throttle Left)
SERVO3_FUNCTION = 74 (Throttle Right)
As a result, esc did not receive PIXHAWK.
Message, thank you
Posts: 1
Participants: 1
@ahmetomer wrote:
Hello!
I have assembled the project and loaded the firmware of latest ardurover.
Using telemetry to connect the pixhawk. I have 2 questions:
- How can I make a power switch for the 12V battery to Power module?
- can pixhawk power 2 pieces of 9g servos for gimball.
Posts: 2
Participants: 2
@ahmetomer wrote:
Hello. I have successfuly calibrated the GPS and the others. Assembled the boat. Set the differential thrust. I simply want to make engines stop when the right stick is at zero.
Things i did.
I just connect the turnigy 9x(mode 1) to Pixhawk(it supports pwm without encoder) directly( i didnt mix any channels on the RC transmitter)
I just connected the ESC’s(cut the 5v+ bec line) to pixhawk.pix hawk is connected to the Mission planer via telemetry.
everything works and just this by itself made me doubt everything. the boat is in stationary mode(on desk). it says bad ahrs (maybe because im at home?)
Well, when i put the steering (right) stick to right for 2 secs, the engines start running(quite fast). I even saw soem sparks for an instances above the motors. Then i just turn of the ESC’s.
It is in manual mode but why the boat does start with a quite fast paced pulse? I want it to be at zero speed. Since this is the manual mode?
I want to test the transmitter. If i go to my pool it will just crash at a quite fast pace. (twin 12V 540’s)
Please help me
![:frowning:]( ":frowning:")
I need to test it in manual mode and see how skid steer works. The Boat is around 5KG and 92cm. It wont go fast but i actually want it to run very slow tho.
This is the boat!
.
Posts: 6
Participants: 2
@shubham9646 wrote:
Hello,
I’m working on ArduRover v3.5.0 and recently ported Chibios on the board. After porting I realized that:
- GPS Mode is working fine + Logs (EKF3)
- GPS+Encoder Mode is also working + Logs(EKF3)
But Only Encoder Mode is not working.
Following are the errors that I encountered during test missions.
- EKF Failsafe Error
- Flight Mode Unable to Change due to failsafe
- No Logs generated due to bad logging
Here are some of the screenshots of the issues. Please acknowledge and reply to this topic. I really need to resolve these errors.
Posts: 1
Participants: 1
@Marco_Antonio_Salas wrote:
People, I m new in all this tematics and I m doing a thesis using APMrover2 and I don’t know nothing about that, by this I need some help from you. I need some explication whit detail of that code. Thanks
Posts: 2
Participants: 2
@JerryCampbell wrote:
Hi Friends,
Although I am new to the Rover side of the Firmware I have been flying Ardupilot with Mission Planner for a few years. I first learned to fly heli’s. My first flight controller was a Rabbit, the second was a Crius AIOP V2 running Megapirate, then APM and then Pixhawk.
I am crawling out of severe brain fog from a year and a half in and out of the hospital and haven’t been able to fly. At 74 it has kicked my butt, but I’m on my way up. I said that because I want you to know I’m not a beginner or an idiot.
So I’m trying to do something I have never done before to get the brain cells back where their supposed to be. I have put together a pixhawk lite and almost all the needed parts for my rover from my parts bin. I have a chassis. The problem seems to be the radio, I’m just slow getting it back together.
I have a Taranis Plus I have been flying Planes and Multi’s. I love it. My receiver is an X8R. I want to have the throttle and the rudder/steering mixed to the elevator and the ailerons and a 2 axis gimble on the left stick. Mode 2
I have tried for about a week and it’s just not happening. I of course have read the docs and watched the videos. I feel like I need to be kick started. If someone could point me in the right direction it would be much appreciated.
Thanks
Jerry
Posts: 4
Participants: 3
@DaHaiHuha wrote:
Bug report
Issue details
When build rover in macos mojave with python2.7, the build failed in 493/495 with TypeError:
Build failed Traceback (most recent call last): File "/Users/apple/workspace/ardupilot/modules/waf/waflib/Task.py", line 338, in process ret = self.run() File "Tools/ardupilotwaf/chibios.py", line 78, in run if defaults.find(): File "/Users/apple/workspace/ardupilot/Tools/scripts/apj_tool.py", line 93, in find i = self.firmware[self.offset:].find(magic_str) TypeError: argument should be integer or bytes-like object, not 'str'Version
master- 49b0a00Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ * ] Rover
[ ] SubmarineLogs
[493/495] apj_tool build/CubeBlack/bin/ardurover Loaded binary file of length 2294780 Waf: Leaving directory `/Users/apple/workspace/ardupilot/build/CubeBlack' Build failed Traceback (most recent call last): File "/Users/apple/workspace/ardupilot/modules/waf/waflib/Task.py", line 338, in process ret = self.run() File "Tools/ardupilotwaf/chibios.py", line 78, in run if defaults.find(): File "/Users/apple/workspace/ardupilot/Tools/scripts/apj_tool.py", line 93, in find i = self.firmware[self.offset:].find(magic_str) TypeError: argument should be integer or bytes-like object, not 'str'The configuration information is as below:
➜ ardupilot git:(master) ./waf configure --board CubeBlack --python=python2 Setting top to : /Users/apple/workspace/ardupilot Setting out to : /Users/apple/workspace/ardupilot/build Autoconfiguration : enabled GCOV code coverage analysis : no Setting board to : CubeBlack Using toolchain : arm-none-eabi Checking for 'g++' (C++ compiler) : /usr/local/bin/arm-none-eabi-g++ Checking for 'gcc' (C compiler) : /usr/local/bin/arm-none-eabi-gcc Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes Checking for program 'make' : /usr/bin/make Checking for program 'arm-none-eabi-objcopy' : /usr/local/bin/arm-none-eabi-objcopy Including /Users/apple/workspace/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat Adding environment OPTIMIZE -O3 Removing PB0 Removing PB1 Setup for MCU STM32F427xx Writing hwdef setup in /Users/apple/workspace/ardupilot/build/CubeBlack/hwdef.h Writing DMA map Generating ldscript.ld Adding defaults.parm Checking for env.py env set OPTIMIZE=-O3 env set HAL_WITH_UAVCAN=1 env set PROCESS_STACK=0x2000 env set MAIN_STACK=0x400 env set IOMCU_FW=0 env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] env set APJ_BOARD_ID=9 env set APJ_BOARD_TYPE=STM32F427xx env set FLASH_RESERVE_START_KB=16 env set DEFAULT_PARAMETERS=/Users/apple/workspace/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/defaults.parm env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 Enabling ChibiOS asserts : no Checking for intelhex module: : disabled Checking for HAVE_CMATH_ISFINITE : yes Checking for HAVE_CMATH_ISINF : yes Checking for HAVE_CMATH_ISNAN : yes Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes Checking for header endian.h : not found Checking for header byteswap.h : not found Checking for HAVE_MEMRCHR : no Checking for program 'python' : python2 Checking for python version >= 2.7.0 : 2.7.16 Checking for program 'python' : python2 Checking for python version >= 2.7.0 : 2.7.16 Source is git repository : yes Update submodules : yes Checking for program 'git' : /usr/bin/git Gtest : STM32 boards currently don't support compiling gtest Checking for program 'arm-none-eabi-size' : /usr/local/bin/arm-none-eabi-size Benchmarks : disabled Unit tests : disabled Scripting : disabled Scripting runtime checks : enabled Checking for program 'rsync' : /usr/bin/rsync
Posts: 1
Participants: 1
@shubham9646 wrote:
Hello enthusiasts,
I recently encountered problem when I was using GPS+Wheel odometery for navigation on my Ardurover version 3.5.0.
Problems faced:
- EKF Fail safe Error
- No logs generated
This usually happened when I used to work on wheel encoders only but now it is showing in this particular mode too. Logs gets created but once in fail safe FMT in not created.
I performed multiple resets and calibration but still facing the same. Please help if someone has already resolved this or facing the same.
Posts: 1
Participants: 1
@Billy wrote:
Good evening,
I am fighting for a moment already with the manual mode of my rover.
I have a px4 working with a sabertooth 2x25 and a wild thumper. I use ardurover 3.5.I have set everything as indicate in this discussion: Skid steer help. The motor tests C and D are working well but the tests A and B does not work. And the RC has no effect. The RCMAP seems good and the green bars are moving during the calibration but nothing happen when i go on the tab for the servo output.
I am have no idea which parameters change to solve the problem, or even what is the source of the problem.
I will appreciate any helps to make work this rover, its frustrating, leds are blinking but nothing move…
Thank you !
Posts: 1
Participants: 1
@David_Boulanger wrote:
Well it started out as just wanting to add a Pi to my boat so that I could use UAVcast and cellular as another option for boat operation. I had no room in any of the enclosures for the Pi. My boat had a deck full of enclosures for different purposes none of which were water tight but water resistant at best. So I decided to rework the deck layout. The goal was to build a water tight ( like heavy rain) , expandable ( able to carry various payloads) , have power readily available for payloads. I’m about 3/4 done. Still need to finish up the forward camera payload. RFD 900 antenna’s need to go up on deck in some way yet be water proof. GPS may need to be moved to get a better view of the sky and a few minor things. UAVcast seems to work very well with all the bench testing I have done and look forward to getting it out on the water soon. Here’s a few pictures ranging from the old setup to present construction.
https://1drv.ms/f/s!AgqdUNhfFlnDgboN1eZeLT9ijGb2iA
Comments good or bad welcome.
Posts: 3
Participants: 2
@saakib.akbany wrote:
Hello everyone,
I’m new to this community and would really appreciate some guidance! I am building a USV/autonomous marine boat and planning on using a Raspberry Pi 3 B+ with two Blue Robotics T200 thrusters in a differential steering set-up.
I’ve been reading through the forums for newbies here and the basic build document here. I see that everyone says to use a flight controller (Pixhawk, BeagleBone Blue, etc). Can someone explain to me why that is? I built an autonomous car using the Donkey Car open-source code as part of a class, and we only used the Raspberry Pi and a PWM.
Thanks for the help!
Posts: 2
Participants: 2
@vixadd wrote:
Hi!
So I’m working on a project with a rover that I have. My objective is to store multiple missions on a database. Basically having multiple separate lists of waypoints that I can treat as independent missions for the rover.
I have some experience working with Mavproxy and Ardupilot. Mostly with planes, but I haven’t really touched APMrover2 in the past. I’ve also done most of my waypoint uploads through Mission Planner. But I’m looking forward to doing this in python through my own code. In order to test this out I figured that the best thing to do would be to get SITL running with APMrover2 and crack open a python prompt on another terminal.
from pymavlink import mavutil
from pymavlink import mavwpautopilot = mavutil.mavlink_connect(‘udpin:127.0.0.1’)
autopilot.wait_heartbeat()autopilot connects properly to Mavproxy running with SITL. I am able to send basic commands that arm and disarm the rover as such
autopilot.mav.command_long_send( …numbers… )
However, what I want to do now is functionality needed to load waypoints into APMrover2 and execute the mission.
I have a feeling that I’m oversimplifying this. I’ve tried reading through pymavlink and Mission Planner’s code as well as APMrover’s code before coming here but I’m pretty stuck. If you can point me to code examples where such functionality is displayed (I know that there’s something I missed) I would greatly appreciate it.
I know that mission_items are sent using the MAV_CMD_NAV_WAYPOINT (16) command and I read up on this in the mavlink mission protocol documentation, but this doesn’t seem to give me the result I want. I would constantly get an APM upload terminated message in the mavlink console.
I would greatly appreciate anyone’s help in this matter. I’m using a Pixhawk 2.4.6 if anyone is interested about the hardware.
Posts: 1
Participants: 1
@Daniel_Widmann wrote:
Hi Everyone,
I was thinking about using hoverboard motors on a rover for quite a while. They offer high torque at an unbeatable price. The ODrive looks like a perfect fit for those motors. It uses closed loop control with the motor’s hall sensors to allow very precise movements even at low speeds.
Finally I found some time to put it all together and the results looks very promising. I use auto mode without any global reference (no GPS or compass). ODrive allows to read out the encoder positions, so it can be used as as wheel encoders for the EKF3 without any extra hardware.
This is a simple mission following a 3m x 2m rectangle. There is a little bit of oscillation after the pivot turns, but I think it looks pretty decent.
A short video of some of the turns:
The biggest issue at the moment is gyro drift. I believe this is caused by having only one measurement source for rotations (just the gyro no compass), so the EKF can’t really estimate the offset. It might be a good idea to calibrate the gyro offset any time the rover is not moving.
At the moment this is just a quick and dirty hack, but I think ODrive support could be added to the mainline if there is some interest.
Cheers,
Daniel
Posts: 2
Participants: 2
@timtamp wrote:
Hello , Im setting up a skid steer boat and it’s going good, running good lines but the turns are a little sketchy, not smooth , it turns fast 90 degrees toward the next waypoint but then does some over correctlng back the other direction then maybe some bucking lol, it will then get onto the next long line and be fine. Hopefully someone can offer some tips to make smooth 90 degree turns and maybe show there parameter list.
I have done a lot of reading and many changes, it’s hard to know what really is effective changes.
Thanks may help will be useful
Posts: 1
Participants: 1
@vixadd wrote:
I tried posting this in another board. It might have more luck here.
Hi!
So I’m working on a project with a rover that I have. My objective is to store multiple missions on a database. Basically having multiple separate lists of waypoints that I can treat as independent missions for the rover.
I have some experience working with Mavproxy and Ardupilot. Mostly with planes, but I haven’t really touched APMrover2 in the past. I’ve also done most of my waypoint uploads through Mission Planner. But I’m looking forward to doing this in python through my own code. In order to test this out I figured that the best thing to do would be to get SITL running with APMrover2 and crack open a python prompt on another terminal.
from pymavlink import mavutil
from pymavlink import mavwpautopilot = mavutil.mavlink_connect(‘udpin:127.0.0.1’)
autopilot.wait_heartbeat()autopilot connects properly to Mavproxy running with SITL. I am able to send basic commands that arm and disarm the rover as such
autopilot.mav.command_long_send( …numbers… )
However, what I want to do now is functionality needed to load waypoints into APMrover2 and execute the mission.
I have a feeling that I’m oversimplifying this. I’ve tried reading through pymavlink and Mission Planner’s code as well as APMrover’s code before coming here but I’m pretty stuck. If you can point me to code examples where such functionality is displayed (I know that there’s something I missed) I would greatly appreciate it.
I know that mission_items are sent using the MAV_CMD_NAV_WAYPOINT (16) command and I read up on this in the mavlink mission protocol documentation, but this doesn’t seem to give me the result I want. I would constantly get an APM upload terminated message in the mavlink console.
I would greatly appreciate anyone’s help in this matter. I’m using a Pixhawk 2.4.6 if anyone is interested about the hardware.
Posts: 1
Participants: 1
@karla wrote:
Sorry if I posted this out of place, I researched wiki and forums but still cant find answer to my question.
- Is it possible to make the last connection from a rfd900 modem that uses PPM passthrough to the GCS via a Bluetooth device, rather than via a USB cable?
The usb cable works beautifully - however its a cable and it limits my freedom of moving around at ground position. I can put a very long cable from my RC transmitter to the rfd900 unit - but it seems much wiser idea to do it wirelessly (via BT).I can not be the first person here?
My question, can it be done? If cant - then perfectly happy to find other radio solutions/K
Posts: 5
Participants: 3
@David_Boulanger wrote:
Just finishing up my boat refit and I may have found a bug. Outputs 4 and 5 on my 3DR Pixhawk 1 are being used to control two different camera pan servo’s. Using option 54 on servo 5 I am able to get a pass through from rc in 4 so both servo’s move with my right stick left and right. However I cannot reverse the servo outputs on output 4 or 5. I am currently using 3.5.0 rc2 though. I really need to reverse output 5 so both cameras move the same direction . I realize many people don’t use outputs 4 - 8 on rovers and wonder if this has gone un noticed or I’m doing something wrong. So basically i’m using outputs 4 and 5 which move with my yaw stick but I cannot reverse the outputs. My problem is output five needs to be reversed so it moves in the same direction as the camera associated with output 4. @rmackay9, @iampete.
Posts: 3
Participants: 2
@dhumpherys wrote:
Hi, I’m just getting started with learning ardupilot and building a rover.
I’ve used a cytron motor driver and hooked it up as seen hereWhen I try and test the motors as documented here, i just get atone. No message and the motors dont turn.
I am using my pc connected via radio to send the commands. I arm the rover and get a good tone. I know the motors have power because there is a test button on the cytron motor driver that turns them.
I’m very new to all this and could use some help in how people go about debuging things like this… i’m sure this will be the first of many things to solve!
Thanks!
David
Posts: 1
Participants: 1
@3Denis wrote:
Hello,
I’m currently designing an art project involving 6-10 autonomous ground vehicles. I have some experience with drones, but not really much. It would be great if I got some tips, advice and constructive criticism here.
The planned setup:
6-10 vehicles that need to be able to navigate pretty precisely (outdoor). The goal is to perform a choreography or a kind of dance. The position tracking must therefore be 10-20cm accurate.The planned hardware:
Pixhawk cubes
Here + RTK GPS
433Mhz telemetry
Groundstation Laptop (s)With just one vehicle, everything would be manageable for me, I think. But because of the several vehicles there are some questions.
Is it a good idea or possible to safely control all vehicles with only one ground station? With only one ground station and several vehicles, how do I best solve the telemetry? Only one radio module on the laptop or several for each vehicle? Is it even possible to operate several modules on one laptop at the same time?
For the Here + RTK GPS, it would be best to have just one ground station. (one GPS rover module on each vehicle, one base module on ground station) Otherwise I would have to find a solution that several ground stations somehow share the one base RTK module. Or I had to use 6-10 complete kits, what sounds a bit overdosed.
So far for now. Maybe someone is working on a similar project. Thanks a lot for some feedback.
Denis
Posts: 1
Participants: 1
@Colindo wrote:
I need help please, I have for days been trying to solve the Bad AHRS fault.
I am setting up a pixhawk 2.4.8, in mission planner and have installed version rover V3.5.
I have the pixhawk stuck down to a board with the UBLOX NEO M8N along side it. I have the receiver plugged into the RC in and the transmitter / receiver is working OK . The buzzer is working as is the push switch…
I have spent a couple of days on youtube and reading all I can but all that I have tried hasn’t solved the problem.
I just can’t get the AHRS problem solved.
Any help please.
Posts: 1
Participants: 1
