@ecabanas wrote:
Hi
Yesterday I was trying to set up my rover and in auto mode was completely strange.
As you can see in the picture I set up a simple path, but the response of the rover was very very strange.
He started to move forward a meter, after the rover flip 180 and started to go to the waypoints reversed way and describing huge arches every for each waypoint.
Any idea what’s going wrong?Thank’s
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@David_Boulanger wrote:
Working next to a seawall and under a dock was a learning experience.
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@count74 wrote:
Hi,
I just played around with my Benewake TFmini again. The TFmini alone is working fine as rangefinder and PRX type 4.
However I also tried to use an arduino and a servo to sweep the TFmini to get two Rangefinders for obstacle avoidance
(rangefinder avoidance, not PRX stop)
My sketch sends DISTANCE_SENSOR messages, one for each direction the sensor is pointing in. I tried three steps with orientation 0, 1 and 7 and also two steps with 1 and 7.
According to some information I found while digging around, rangefinder type 10 (Mavlink) should now consume DISTANCE_SENSOR messages, but I could not get it to work. PRX type 2 works without a problem, the MP proximity window is showing 2 or 3 segments, depending on how I configured the arduino.
At some point I suddenly got Rangefinder1, Rangefinder2, Rangefinder3 parameters in MP status screen, all showing 0. I never saw this before and it disappeared again during testing.
What mavlink message does the arduino have to send to work with Rangefinder type 10?
I know I asked this before, but I never got a definitive answer…
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@RainFly wrote:
Hello All,
I have a 3D printed tank running ArduRover 3.5.1 with an AUAV-X2.
In Steering- and Auto-mode the tank turns only very litte to the left, even with RC-stick full left. Steering to the right works well.
With centered RC-stick the tank does not go straight, already turns right.
I think the steering controller is tuned OK so far, although the PID values are quite small. Compass seems to be OK.In Manual- and Acro-Mode the tank drives straight.
Does anybody have an idea why the tank has a problem to turn left in Steering/Auto mode?
Log: https://c.web.de/@337861202954682728/9ynuRiyyTgyT-IIY1haZ_A
Params: 20190622-Tank.param (13.4 KB)The same thing happens with a different rover, also ArduRover 3.5.1
OpenRC Tractor https://www.thingiverse.com/thing:1967086
Equipped with a Omnibus Nano V6.
I have no logs for the tractor.Thanks in advance for your help!
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@Daniel_Riley wrote:
I recently made a quick and dirty box boat to use as a test platform for Ardurover, with hopes of eventually making an autonomous solar powered boat. It’s working fairly well but I’m having a tough time getting it to track in a straight line. Maybe this is just because I was testing on a breezy day, or its just the nature of the box, but I thought I’d post a log to see if anyone has any tuning suggestions. It does much better going down wind than up wind. The files were too big to upload directly so I’m linking to them in google drive:
https://drive.google.com/file/d/1sBArdKwIE0CuTQRBsJ-fpWuT–mHyNlO/view?usp=sharing
https://drive.google.com/file/d/1NfbGPyF3v1lOD5aDNuNDjdG8bdrK02os/view?usp=sharingThanks!
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@WitheringStare wrote:
Hi team,
It’s kind of an excuse to play with some toys, but we’re thinking of buying a house and it will need a lot of renovations. I’m wanting to set up a sensor rig on my rover and I was hoping you clever people could help me out.
I want to image the house inside and out, so that I can make a rendered 3D mesh and explore it in VR, and maybe even play around with the design etc.Does the following sensor array make sense to collect the data?
- Two slamtech A2 LiDAR rigs to scan on the x and y axis
- A RunCam Split 2s
- And some sort of thermal sensor so that I can ID any leaks
I’m also not sure what I’d use to turn the data I collect with the rig in to the rendered 3D environment for VR.
Huge ask, and I assume I’m biting off potentially more than I can chew, but It’ becoming a bit of a challenge for myself now, so any help would be greatly appreciated.
Many thanks,
Withering
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@ecabanas wrote:
Hi all
I’m having “error compass” and reading some posts I saw I have an issue in my rover.
I setup the external GPS (GERE+) pointing forward as cube unit.But when I turn right the unit seems turning left:
And when turn left:
When the rover is centered the mz and mz2 values are not negative, one is positive and the other negative:
Any idea what I’m doing wrong?
Thank’s guys
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Participants: 3
@lmy568 wrote:
I just write my library .cpp and .h in the library document , and add the library in the APMrover2/wsrcipt , but something wrong when i ./waf rover. it happens that :
Build failed
-> task in ‘objs/AP_pol’ failed (exit status 1):
{task 140433946212664: cxx AP_pol.cpp -> AP_pol.cpp.0.o}
:
{task 140433946212664: cxx AP_pol.cpp -> AP_pol.cpp.0.o}
[’/usr/bin/g++’, ‘-std=gnu++11’, ‘-fdata-sections’, ‘-ffunction-sections’, ‘-fno-exceptions’, ‘-fsigned-char’, ‘-Wall’, ‘-Wextra’, ‘-Wformat’, ‘-Wpointer-arith’, ‘-Wcast-align’, ‘-Wundef’, ‘-Wno-unused-parameter’, ‘-Wno-missing-field-initializers’, ‘-Wno-reorder’, ‘-Wno-redundant-decls’, ‘-Wno-unknown-pragmas’, ‘-Werror=attributes’, ‘-Werror=format-security’, ‘-Werror=enum-compare’, ‘-Werror=array-bounds’, ‘-Werror=uninitialized’, ‘-Werror=init-self’, ‘-Werror=narrowing’, ‘-Werror=return-type’, ‘-Werror=switch’, ‘-Werror=sign-compare’, ‘-Werror=type-limits’, ‘-Werror=unused-result’, ‘-Werror=shadow’, ‘-Werror=unused-variable’, ‘-Wfatal-errors’, ‘-Wno-trigraphs’, ‘-Werror=parentheses’, ‘-Werror=unused-but-set-variable’, ‘-Werror=float-equal’, ‘-O3’, ‘-MMD’, ‘-include’, ‘ap_config.h’, ‘-Ilibraries’, ‘-Ilibraries/GCS_MAVLink’, ‘-I.’, ‘-I…/…/libraries’, ‘-I…/…/libraries/AP_Common/missing’, ‘-DSKETCHBOOK="/home/lmy/ardupilot"’, ‘-DAP_SCRIPTING_CHECKS=1’, ‘-DCONFIG_HAL_BOARD=HAL_BOARD_SITL’, ‘-DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_NONE’, ‘…/…/libraries/AP_pol/AP_pol.cpp’, ‘-c’, ‘-olibraries/AP_pol/AP_pol.cpp.0.o’]can somebody helps me about it,thanks very much!
my code version is the newist.
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Participants: 1
@Terrance wrote:
Hi, I am new to Ardupilot, have played around with Arduino a little, but still very much a noob in this world. I have been working on a custom rover build and was quite happy to run it via RF transceivers hooked up with Arduin Uno’s.
However, my main goal is to build an autonomous bot and after many hours over the past few days I had managed to get it to work in manual mode - I was so happy with the result I then unplugged everything and proceeded to celebrate by getting some pizza for dinner! Then I came back, hooked everything up again and found that the bot no longer wanted to work.
I am using the following: Pixhawk Cube; Cytron MDDS 30 motor controller, Fly Sky T6 with PPM encoder. As previously mentioned, I was able to get it working (albeit it in manual with ARMING_REQUIRE disabled.
To me, the problem seems to be that the Cytron motor controller is not liking the RC signals from the Cube (as per Cytron manual regarding error lights flashing). So I tried a Roboclaw motor controller, but that did not work either.
A link to an image of the set-up and the Bin files can be found here:
Any assistance that can be provided will be greatly appreciated.
Kind regards
Terrance
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Participants: 1
@Christopher_Milner wrote:
I am considering coding a new type of pivot turn and wanted to check with the forum (@rmackay9) on thoughts/suggestions.
My skid steer mower spends a lot of time navigating the u-turn at the end of a typical lawn-mowing pattern. I currently am using pivot turns for any turn > 45 degrees. These u-turns involve: stop, pivot about 90 degrees (I have my pivot speed turned down to 30 degrees/sec), go forward about 1 meter, stop, pivot about 90 degrees, head back down to the other end of the lawn. Each of these turns takes about 10-12 secs. When mowing 30-second strips back and forth, this ends up being 25% of the total time mowing. If my mower were to make the u-turn by holding 1 wheel still and turning with the other wheel, it could rotate 180 degrees around the inside wheel, and it would execute the u-turn much faster and would end up in pretty much the right position for the next strip. The algorithm I have in mind is:
- if conditions are right for a one-wheel pivot (i.e. the heading to the next waypoint is 60-120 degrees off my current heading, the next waypoint is .5-1.5 meters away, and the outbound heading from that waypoint to the second-next waypoint (i.e. back down the field) is 170-190 degrees different than my current heading), then, start a single-wheel pivot.
- during single-wheel pivot, set inside wheel speed to 0 and turn using 1 wheel using ATC_STR_RAT_MAX and ATC_STR_ACC_MAX and ATC_STR_ANG_P parameters.
- after single-wheel pivot, skip a waypoint, i.e. set the next waypoint to the outbound one back the other direction.
I’d be interested in recommendations about whether or not this could work. FWIW my C++ is very strong.
Also, just throwing this out there: if someone who is more fluent in the code is interested in coding this up, I’d be quite happy to test…
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@chuckl74 wrote:
My external compass offsets are quite large - X-945, Y-372, Z-765. I’ve recalbrated several times and they are always high. The compass/gyro is attached to a 3D printed platform held in place with Velcro. Are there settings in the compass/gyro that should be changed? Any suggestions to improve them.
Chuck
mRo GPS u-Blox Neo-M8N BGP + Duo Mag + USB
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@Tractor_Pilot wrote:
Hello. A few weeks ago I upgraded to the latest version of Mission Planner. My pixhawk cube black was working perfectly fine up until then. After doing so and connecting my pixhawk cube black I was alerted to a safety bulletin and the mission planner grounded my cube until I followed the prescribed instructions and updated the parameters to solve the issue. However having done so I still cannot arm my cube. I was wondering if anyone else is having a similar issue?
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Participants: 1
@stephendade wrote:
I’ve got an indoor rover and I’m not able to get it to to into Auto mode. Looking a the logs, I’m getting a “EKF Failsafe” when arming.
I’ve got:
- Pixhawk 1 (w/ builtin IMU + compass)
- Wheel encoders
- No GPS
My inital thought was the the EKF requires an absolute position (ie GPS, or other system) reference. I’d previously tried setting the EKF origin in Mission Planner, but got the same issue.
Is it the case that I do require a position reference (GPS, Video Odometry, etc) before the EKF is happy?
[My initial hope was that the wheel encoders + compass would give enough data for the EKF to plot a reasonable intertial position]
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Participants: 1
@LittleTinker wrote:
Hi,
I’m just starting to explore options for an Ardurover tank, a skid steer rover.
I also do like to play with mini drones and so I was hoping to use an Omnibus F4 Pro V3, or another small flight controller such that I could reuse it for something else micro drone related down the track.
But what I cannot quite understand is will this work, or must I get something like pixhawk? My relatively basic understanding coming from Betaflight is these Flight controllers have all the motor outputs mixed and in the skid steer rover application we would want the two motors separate? But is the beauty of Ardupilot that I can separate out the motor outputs of the board and use them as I wish? e.g. if I wanted to drive a tank turret on a 3rd motor output and use two for the two tank track motors I could do that?
Thanks and sorry for such basic questions!
Best regards,
Ian
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Participants: 1
@ahmetomer wrote:
- compass calibration took 10 seconds!
- finds 15 sats. with 0.7 HDOP in clear wheater on open space. finds 14 sats indoors with 0.8 HDOP
my 10 bucks fake 6M unit could max find 9 sats(average of 7 sats little clouds and 4-6) with 1 to 2.5 HDOP values.
Compass has no issues on the EKF section. the &M one had a problematic compass.
I 100 percent suggest people to buy this GPS/COMPASS unit! worked like a charm!
device comes in a box with a 10cm bar for fixing however i didn’t use it. It also comes with an adapter for APM devices!
Thanks for the read!
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Participants: 1
@Christopher_Milner wrote:
I have a rover with a Pixhawk4 running Ardurover 3.5.1 with an Ardusimple RTK gps board. I have successfully used Mission Planner (running on a windows ground control computer) to receive and inject RTK messages which get sent over the 900 mhz radios to the rover. My Ardusimple is running in RTK Float and RTK Fixed modes.
To get the ground control computer out of the equation (at least for the RTK corrections), I put a Raspberry PI onboard the rover. RPi is talking to the Pixhawk4 as per http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html.
The RPi has its own internet connection (through a Huawei 3372 USB stick and a Google FI data-only SIM card; worked flawlessly on the first try!).
So my question (@stephendade ?) is, how is the best way to run an NTRIP client on the RPi that will connect over the internet to the NTRIP server, receive corrections from that server, and forward them (presumably using some mavlink feature) to the Pixhawk? Is this already coded up in Mavlink? Or, do I need to run an NTRIP client on the RPi that somehow sends the corrections to mavproxy running on the RPi which in turn forwards the corrections to the Pixhawk4?
Thanks in advance for any pointers in the right direction…
Chris
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Participants: 2
@3Denis wrote:
I have finished building my arduboat with a Pixhawk 2 so far. In manual mode, it drives very well. But the next step seems to be a bit tricky.
The mode switch is set correctly. (Manual / Auto / Guided). I can set the boat to be armed. After setting some waypoints, I switch from manual to auto. Actually, at this point it should start the mission, or? But nothing happens.
Every now and then comes the message “Bad AHRS”
Another thing, I use a Spektrum DX8 TX and a satellite receiver at the Pixhawk. The DX8 is Mode2, so throttle left, only forward. Since the thruster needs forward/backward, I mapped the right-hand stick like this:
RCIN1 (Pitch) to ServoOut 1 (throttle)
RCIN2 (Roll) to ServoOut 3 (steering)
As said, in manual mode everthing is working pretty well. But nothing happens when I switch to auto. The LEDs on the Here GPS is solid green.
Any ideas? Thanks!
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Participants: 1
@lights0123 wrote:
My servos on a skid-steer robot are commanded at 1740 when armed, even though they have a range of 1000-2000 with a trim at 1500. Servo 1 is set to function 74 (throttle right), and 3 is set to 73 (throttle left). Holding the joystick in the center commands the motors at 1740. Holding the throttle fully up is 2000, and fully down in 1500. Going to a bottom corner commands one motor at 1000 and the other at 2000. When disarmed, they are (correctly) held at 1500. This is an Aion Robotics R1, running ArduRover 3.5.1. Here is a log file.
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Participants: 1
@count74 wrote:
Hi,
I am planning to build an amphibious rover with two Pixhawks. One for rover, one for boat mode.
My question is, is there a way to share a GPS between the two FCs?
I guess, I could connect the GPS TX line to both Pixhawks and the RX line to only one, disabling GPS auto config on the other one.
A cleaner way would be to share the GPS via telemetry/Mavlink, but I do not know if/how this would work. Is this possible?
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Participants: 1
@Mirko_Zhou wrote:
Hello everyone, I have a question: I noticed that almost all the GPS hardware based on F9P do not have integrated compass. Then does it mean I need to connect another external compass with the Pixhawk ?
Is it compulsory to have external compass as I noticed the Pixhawk has an internal compass already?Best regards, Mirko
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