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Yaw Drift due to increase of EKF_GYRO_BIAS Estimation

July 6, 2019, 12:14 pm
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@ferdicakmak wrote:

I have Pixhawk 2.4.8 otopilot with ArduSub_V3.5. 4 firmware installed on a custom ROV.

The problem (figure below) is that yaw (ATT.Yaw) info displayed on QGroundControl_v3.5.3 switches between EKF primary (NKF1.Yaw) and secondary (NKF6.Yaw) solutions, when the vehicle is stationary. Also, EKF secondary yaw solution (NKF6.Yaw) drifts due to drift in gyro bias estimation (NKF6.GZ).

log_0_2019-5-20-15-12-06_Yaw_Switching_and_Secondary_Drifting.jpg
299630c40333551c512d4db1c51f24b45bc6a5a9.jpeg1705×987

I have checked that Magnetometers are well calibrated and give correct results.

log_0_2019-5-20-15-12-06_Magnetometers_are_fime.jpg
a6032a35d789705640f8734b9b8f5bc562f324df.jpeg1705×987

Although Gyro-Z measurement from first IMU (IMU1.GyrZ) seems stationary, IMU2 (IMU2.GyrZ) seems to be drifting, but I dont thing this is a problem because the values are very small and I dont see and problems in other tests.

log_0_2019-5-20-15-12-06_IMU_GYRO_IMU2GyrZ_drifting.jpg
80a87a83e63c77e21e9c31422fbdab37f7a85ede.jpeg1705×987

When I rotate the vehicle at 90deg intervals , I see that yaw values (NKF1.Yaw and NKF6.Yaw) are drifting even though the vehicle stays stationary. NKF1.GZ and NKF6.GZ values shows huge changes.

log_0_2019_-5-23-09-10-12_90deg_Test_Yaw_Drifting.jpg
8223007d7768e49606f9080a20c3cc6169a02195.jpeg1705×987

I have checked that Magnetometers are well calibrated and give correct results.

log_0_2019_-5-23-09-10-12_90deg_Test_Magnetometers_are_fine.jpg
8c89c3cffefc2e56f5429404c8acb8d7256a8f63.jpeg1705×987

Gyro measurements seems fine…

log_0_2019_-5-23-09-10-12_90deg_Test_Gyros_are_fine.jpg
72a1234e0618c3cd081adce2e6040acf3dcae371.jpeg1705×987

I think the problem is that Gyro.Z bias estimations in EKF do grows too much to make Yaw estimation drifting. Magnetometer and Gyro sensors seems to be measuring correctly. Do you have any suggestions?

Best Wishes.

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Turn around waypoint

July 7, 2019, 3:22 pm
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@SoZen_33 wrote:

Is it possible to stop the boat ( or car ) when we arrive at the waypoint or home point, because my boat turn around and never stop…
Thanks for your reply.

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Reversal and Braking with Ardurover

July 8, 2019, 11:32 am
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@Andrew_Kimmell wrote:

Hi all,

Working on ArduRover 3.5.1 in a Traxxas Xmaxx with a HobbyWing MAX6 ESC and having issues getting it to reverse. As far as the ESC’s manual says, you have to trigger brake by sending a reverse input, and trigger reverse by triggering brake twice. Is this feasible in ArduRover for Guided or Auto mode without writing any special code?

Thanks.

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Pymavlink with Ardurover

July 8, 2019, 1:38 pm
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@RezaB wrote:

Hi, I am trying to control the speed of my rover through a python program using either pymavlink, or Dronekit, however I am unable to find any documentation on using either library with rover. Is using them with rover similar to with copter? If not could some one point me to some documentation, if there is any?

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Problems With Obstacle Avoidance

July 8, 2019, 7:33 pm
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@chuckl74 wrote:

Can someone look over this log and tell me what the problem is? When I switch from manual to steering mode the wheels on my Traxxas Stampede, turn full in one direction until throttle is added, then it is still squirrely. The big issue is with the sonar obstacle avoidance. Whatever the turn direction is set for, either positive or negative angles, in steering mode, the rover immediately goes in that direction. It never goes straight.

PX4
MaxSonar-EZ4 | Ranges from 20cm to 765cm | MaxBotix Inc.

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Trouble understanding servo output

July 9, 2019, 6:22 am
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@OriginalUsername5 wrote:

Hi guys,

Let me preface by stating how impressed I am by this open source community, it’s amazing.

I have bought a cube/Herelink combo where I aim to drive a boat with two 24V motors. I have not connected the motors yet, and am using an oscilloscope for measurement. I have traversed the setups and forums, but I seem to lack some fundamental connections in my mind to truly understand what’s happening on the servo rail and its setup.

My questions are as follows:

  1. What are the connection between the RC channels and the channel modes? As far as I understand, each channel (RC1, RC2, …) can be linked to a signal pin on MAIN OUT. Each of these signal pins then deliver a PWM pulse. What are then these modes, what does it mean that they have different PWM numbers behind them (MODE1 - PWM 930-1230 etc)? Do different modes occur as I increase my PWM signal with the joystick?

  2. Why am I locked to 5-10% duty cycle, and is it a way to surpass this? Since I’ll use boat motors I thought it best to use 0-100% PWM, but cannot for the life of me figure out how.

Following is my parameters, please tell me if something looks wrong:

MODE_CH: 8
MODE1-6: 0 (Manual) (What do these do anyway?)
RC1_OPTION: 51 (Manual)
RC3_OPTION: 51 (Manual)
SERVO1_FUNCTION: 26 (GroundSteering)
SERVO3_FUNCTION: 70 (Throttle) (Does not work, however RCIN3 works but is not recommended in wiki? Also restricted to low duty cycle.)

Also, setting SERVOX_MIN/MAX and RCX_MIN/MAX from 0 to 16000 or 20000 does not give me the full duty cycle as wanted.

Any tips?

A thousand thanks in advance.

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Auto mode max speed adjust from RC?

July 9, 2019, 1:53 pm
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@Pflumph wrote:

I’ve been running the new rover in the wild, and have the max speed dialed down for testing. Across different terrain, I can see that different speeds are appropriate. For instance, on smooth surfaces I can run much faster then I can on rough terrain where “bump steer” is a problem the faster I go.

I have 2 free rotary pots on my x9d. Can these be configured to adjust the maximum speed on the fly, while in auto mode?

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Object Avoidance Steering is Very Weak in Steering Mode

July 10, 2019, 11:35 am
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@Grant_Jones wrote:

I’ve been trying to get the “dodge” object avoidance working on my pixhawk rover with a Garmin LiDAR-lite v3 using PWM, with traditional non-skid steering. The Lidar is providing correct distance readings and the messages on flight data show it’s detecting objects correctly and correctly reporting “obstacle passed” when the object is removed. I originally thought that the system was simply not attempting to steer around objects at all (running into them) but when I set the turn trigger distance to 1.5m and drove very slowly I noticed that the rover did attempt to correctly steer right or left past the object, but only very slightly.

When changed over to manual mode, the same setup will turn to the full range of the servo as it should. Additionally, I’ve noticed that the steering will sometimes randomly twitch aggressively in steering mode, while im still not able to control it any more than just slightly. I have tried using the simple stopping object avoidance too but found that the rover would never stop even after hitting an obstacle.

Unfortunately my other problem is bad logging so I wont be able to provide a log but I have added my parameters. Any suggestions would be very much appreciated.

2019-07-10.param (12.2 KB)

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4 wheel steering with two channels?

July 12, 2019, 2:11 pm
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@Dr_Pid wrote:

My crawler has two ESCs and front/rear axle steering, which without the pixhawk, may be controlled independently thru the radio.
Set RCn_Function to 26, limits the steering control to one channel.
Set RCn_Function to 70, limits the speed control to one channel.
Yes, splitters may be used, like 2 channel setup shown below, which works but I want to rock crawl as well: i.e. independent steering and throttles.

RADIO%20SETUP
RADIO SETUP.png800×595 103 KB

Is it possible to use auxiliary channels to perform these mixes? I use a Taranis x9d+ with the 6-position switch update, so I can assign a function to any channel.

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Parameter restore procedure when replacing a flight controller

July 14, 2019, 3:36 pm
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@Tom_Freeman wrote:

Due to real (or suspected) flight controller damage or defect its helpful to have a clear understanding of the recommended procedure to load & update saved parameters from an old unit to its replacement.

Since many of the saved parameters are calibration data unique to the original device (e.g. accelerometer, compass related params), loading the parameter file from the old unit, also loads that old calibration data (I assume).

Is the recommended procedure to load the param file saved from the original device and then “re-calibrate” using the “initial configuration” tools in Mission Controller ?

Tom

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Disarm upon GPS_FIX_TYPE not 5 or 6

July 15, 2019, 3:55 am
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@Christopher_Milner wrote:

I’d like my Rover to disarm if the GPS_FIX_TYPE changes to be other than 5 or 6.

(I doubt it, but…) Is there a configuration parameter that will achieve this without code? (Somewhat similar to AHRS_GPS_MINSATS)

Else, what are the approaches to implementing this in code? Goal is something that’s quite robust, i.e. doesn’t drop messages, if even at the cost of programming complexity.

  • Write a program (python?) that runs on the pixhawk at boot (standard etc/init.d startup), subscribes to MAVLINK messages, and sends a MAV_CMD_DO_SET_MODE message?
  • Should I create a Lua Script (although it seems I would have to add a new binding)
  • Install a companion computer and write a custom mavlink client that runs on it?

@rmackay9 any pointers in the right direction would be appreciated.

Thanks

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Omni-X motor issues

July 15, 2019, 7:48 am
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@RezaB wrote:

Hello, I am having an odd issue with my omni-x rover. Not all motors are turning on as they should be. When moving laterally, all 4 motors are active, and moving properly, but when moving forwards/backwards only motors 1 and 2 move, and when turning only motors 3 and 4 move. Any ideas why this might be the case?

I am attaching a log file with this behavior, if any one could help diagnose the issue.

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Boat: No DPTH messages logged from echo sounder

July 15, 2019, 3:18 pm
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@alexhenao24 wrote:

Hi, as I said here: https://github.com/ArduPilot/ardupilot/issues/9057

"Hi, I’m trying to obtain DPTH messages from my pixhawk 4, but I don’t see that messages when I open the saved file (in SD card) by tapping “Review a Log” on Mission Planner.
I had tried Mission Planner from 1.3.63 to 1.3.68 versions

May you help me please?,
-What version of Mission Planner does the work?
-What version of Ardurover firmware is the correct for that?"

I have the following settings:
RNGFND_ORIENT = 25
FRAME_CLASS = 2 (boat)
Ardurover V3.5.1
I’m using an Airmar SS510 (this one works with NMEA0183)
I think that is because my echo sounder is not an Echologger ECT 400 but an Airmar SS510. Do you think so?.
I don’t now what is going on.

Thanks for your help.

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Compass Mag3X offset

July 16, 2019, 9:20 am
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@3Denis wrote:

Hi,

I started to tune my arduboat the last days. Its equipped with a Pixhawk 2.1 cube and Here GPS.
When I look at the LogFile, there seems to be something strange. X of Mag1 and Mag2 is consistent, but Mag3 has a quite big offset. Is that normal?
And I´m wondering which stated Mag is which real device? 1&2 internal cube compass and 3 the external Here? Or 1 the Here and 2&3 the internal?

Thanks for any advice.
Denis

screenshot_mag
screenshot_mag.jpg1329×707 179 KB

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Ardurover on Kakute F4 v2 Telemetrie problems

July 16, 2019, 11:28 pm
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@OldRaven wrote:

Hi,

I’m setting up a rover project with a kakute F4 V2, but I cannot get Telemetrie 1 to connect.

I’ve looked at the documentation of the latest firmware of the Kakute F4, and cannot really find good information about the pinout of the board.

I got the latest rover firmware loaded on the board.
The GPS is working and connected to pins R4 and T4
The RX Reciever is connected to R3

For telemetry I wanted to use an ESP8266 but could not get that to work, so got a 3DR v2 Sik now.
It’s connected to pins R6 and T6…

When I power the 3Dr air unit seperatly (so no connections to RX and TX) the unit connects to the groundunit.
When I connect R6 to TX on the air unit and T6 to RX on the airunit… the 3DR does not want to connect to the ground unit anymore (blinking blue light) and the red light is flashing indicating there is some serial cummunication flowing there.

I somehow have the feeling that I dont understand the pinouts of the Kakute F4’.
Can anyone confirm that pins R6 and T6 supposed the be Telemetry 1? and if this is supposed to be uart 6 or is it remapped to uart 1?

Kakutef4
Kakutef4.JPG962×570 104 KB

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Is hoverboard wheel can be used on Rover?

July 18, 2019, 2:54 am
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@Hijohn wrote:

Hello guys,

I want to build a Rover with Brushless DC motors, and I have a motor drive board and two hoverboard wheels, I have connected to Arduino and control my vehicle successfully like picture, but now I want to use Pixhawk to replace Arduino because MissionPlanner is a powerful software.

Please give some advice about brushless motor can be used on Pixhawk?
I have tred many times to connect Pixhawk and motor drive board, but I think I may be don’t figure out how does Pixhawk works.

Here is my motor drive board and it has 6 out pin, [5V]-[EL]-[M]-[ZF]-[VR]-[GND] ,these 6 pin can be connected to MCU(like Arduino)
5V : power positive.
EL : brake. (5V = Lock, 0V = Unlock)
M : RPM output.
ZF : Invert. (5V = clockwise, 0V = anticlockwise)
GND : Ground.

Sorry for my bad English
And thank you for any advice!

motor%20drive%20board
motor drive board.jpg1920×1024 389 KB

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Problem in pid tune in acro mode

July 19, 2019, 1:48 am
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@lmy568 wrote:

today i tune my differential thrust boat with rover3.3 firmware.

  1. I set the cruise speed and throttle successfully. (in mannul mode, and use the rc7 switch to learn cruise, every thing is wonderful)
    2*. I want to tune the speed 2 throttle PID, then i change to acro mode from mannul mode. everything is ok in mannul mode, but in acro mode the boat goes automaticly and crazy, i didn’t do anything, the throttle is 0, and the steering stick is in the centor. when i return to mannul mode, it quiet down and motionless.*

#my suspect : does it possible in mannul mode the left stick is steer and right is throttle, but in acro mode it changes, the left stick becames throttle and the right is steer?#

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Collision avoidance using monocular vision

July 19, 2019, 8:00 am
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@bmatejevich wrote:

Hello all,

I am programming a rover to complete a mission in auto while also performing obstacle avoidance using optical flow. I have a companion computer running a python script calculating optical flow similar to a corridor following method (steer to side with less flow) ,but with a threshold so the rover can take commands form the pixhawk as well, and I want to implement this in my auto driving. The companion computer is running ROS so I am looking for the best method to temporarily override the mission plan with a ‘change heading’ or by creating a new waypoint in a safe direction and then return to the mission. I am new to ROS and MAVLink messages so maybe I am overlooking a very obvious solution here.

Thanks!

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Pixhawk Encoder Issue

July 20, 2019, 10:05 am
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@copterguy wrote:

Hi,
I have started on a new rover using the Pixhawk 2.4.8. I am using a Fly Sky TH9X with a R9B receiver. I have all of the channels connected. However, I only see channel 1 of the encoder in APM. I have tried various combinations, however, channel one is the only one registers.
Any help would be appreciated!

44
2019-07-20-12.58.44.jpg800×1067 183 KB

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Ardurover - skid steer - tank - controller options?

June 30, 2019, 10:50 am
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@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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