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Skid sterring boat direction error

July 22, 2019, 8:21 am
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@GOGENDEAU_Pierre wrote:

Hi all,

In a conservation project for developing new tag for marine turtles, we need to do oversea channel radio characterization of LoRa signals. We were a bit tired to do it by boat so we decide to build an autonomous boat. We also plan to help reef conservation and habitat mapping adding an echlogger coupled with a camera for shallow water.
I’m trying to build a skid strering boat using the pixhawk cube. The boat is made with a old surf board with 2 blue robotics T200 thrusters. I’m using ArduRover V3.4.2 firmware with Mission planner 1.3.62. The boat functions like I want in manual mode but I have errors in direction in Automode. The direction error can be more than 90°. I tried to set up my parameters following the ardupilot Rover tutorial and then some setup that I saw in this forum. (For instance setup of David_Boulanger).
I did my test in a harbor(Le Port, Réunion island). I tried first some really simple mission. Just one waypoint in front of the boat. When I switched to Automode the boat go in the wrong direction all the time and doesn’t seem to correct the direction. On my laptop screen when the boat doesn’t move the heading seem in the right direction. I will be happy with any kind of advice for the setup.
You can find attached link to the log file (https://transfernow.net/23c6r651wdb6) and the param file USV_22-07-19.param (11.8 KB) . I often stop the Automode to avoid collision with wall and other boat. I’m a bit lost to try to read and interpret the log file. If you have some advice of which param are important to check first, etc… Maybe for my case I need to check the yaw ? To be more clear maybe I can also make a video of my screen the next time.
Cheers
Pierre Gogendeau

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BRD_PWM_COUNT Question

July 23, 2019, 8:05 pm
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@chuckl74 wrote:

I’m trying to set up the encoders for the BalanceBot following these instructions: http://ardupilot.org/rover/docs/wheel-encoder.html#wheel-encoder

The first step is “set BRD_PWM_COUNT to 2 to allow AUX OUT 3 and 4 to be used as INPUT”. When I go to set the parameter it shows this description: “Control assigning of FMU pins to PWM OUTPUT, timer capture and GPIO.” They need to be set as inputs, not outputs. What am I missing? It’s preventing me from doing the next set properly.

ArduRover V3.5.1

Chuck

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How to make the rover keep still for few seconds after triggering a Relay command?

July 23, 2019, 8:36 pm
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@Mirko_Zhou wrote:

Dear community,

Is there any way to let the vehicle stop for a few seconds after triggering the relay output ?
I tried to add the Condition_Delay command before the next waypoint command, but the vehicle still immediately moved to the next waypoint. Also there is no DELAY command for Rover. Thank you so much.

Best regards,
Mirko

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Max voltage input to PM07 power module

July 25, 2019, 5:26 am
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@John_Dolecki wrote:

I running the PH4 in rover configuration. I’m using SLA batteries to power my Rover/motors. I have 12 and 24 volts DC.
What the max voltage i can use to power the PM07 power module??

thanks

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Odd Behavior in Auto - Phantom Waypoints, Other Issues

July 25, 2019, 1:19 pm
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About PIVOT ANGLE AND SPEED in navigation tune

July 26, 2019, 3:26 am
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@lmy568 wrote:

Hi，When I had tune my steering and throttle PID is OK, I 'd like to tune the navigation controller, but I found that no matter how I change the parameters of the basic navigation controller, it can’t have a good steering in auto mode, my waypoint is a square(I set 60deg to trigger the PIVOT, ).

but when I back home and think about the phenomenon and I read the wiki guidance, I think I had found the reason: if you search PIVOT in full parameter trees, you will find PIVOT_TURN_ANGLE and PIVOT_TURN_RATE, the default of PIVOT_TURN_RATE is 90 deg/s , most boat can’t reach the speed. I will edit it to 30deg/s and have a try next day.

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A problem in tune the PID

July 26, 2019, 3:48 am
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@lmy568 wrote:

%E6%8D%95%E8%8E%B7

  1. When I tune the PID, I found that there always a error in the desired and achieved PID, but it can reach same in the end, I think P is low, then I increase it. but even l increase P to 2 the error can’t eliminate.
  2. then I decrease the accelerate , but the error is still there, can someone help me.

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What spectrum reciver to use with PH4

July 26, 2019, 3:14 pm
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@John_Dolecki wrote:

I’m not understanding which reciver to use. I have a DX6i.

Also I need two outputs to go to my Sabertooth 2x30 motor controller.

So do those come off the reciver or do they connect to the power distrubution board PM07?

Thanks

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PixHawk 4 Boat how to connect ESCs to PMB?

July 26, 2019, 5:55 pm
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@Wcalli wrote:

Hello, I have a PixHawk 4 Board right out of the box with the Power Management Board, that came with it. I believe I have everything connected properly, but you can see that setup in the pics and I’m not sure if everything is one hundred percent correct.

The thrusters I’m using are T100s from Blue Robotics, the red board you see is purely power for them, the white and black wires that come off the ESC are signal and ground respectively.

I don’t know where or how to attach them such that I can calibrate the ESC’s and run the motors. I have tried a lot with no luck, but I know that the ESCs and the thrusters work as I have been able to run them through a direct connection to the Futaba receiver I’m using.

When I go to attempt to calibrate the ESCs (even though they aren’t connected right) I get an error saying “set param error. please ensure your version is ac3.3+”

When I go to do a motor test I get “Command was denied by the autopilot”

I am clearly very far from being on the right track and I have read all I can find, and tested whatever I can. I’m super lost and I need help. This whole post can be boiled down into three questions

How do I wire my ESCs to the Pixhawk4 Power Management board so that they receive autopilot and RC control inputs?

How do I fix "set param error. please ensure your version is ac3.3+"
How do I fix "Command was denied by the autopilot"

I’m building a Boat with differential (skid) steering out of a boogie board

Thank you so much for any help and guidance you can give!

Images of the setup below:
https://docs.google.com/document/d/17NBBrXeofcOigSP1g9DMys7Tga73OjuLDB57aVgnqgE/edit?usp=sharing

@rmackay9 (because I know you’ve done something similar with your lake mapping)

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Rangefinder on a matek f4 wing

July 27, 2019, 12:38 am
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@Grant_Robinson wrote:

Hi All,
i have managed to get ardurover working with a matek f4 wing controller - big learning curve from betaflight now im just trying to add sonar / rangefinder.

I have some maxbotix mb1023 sensors but can’t seem to get them to show up in mission planner. can they be used on a uart or do they need to have a special analogue pin ?
i have confirmed that the rangefinder is changing the voltage on the output pin when objects get closer - but can’t seem to get it to show up
I have it connected to Uart 6 receive pin but can’t seem to get anything to show up for rangefinder I have tried pin 3 analogue output and pin 5 serial - is a uart serial or ttl ???

Can anyone help with setting up a rangefinder on a Matek wing f4 ?
i have tried all that i can think of to get it working

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Any RF geniuses out there?

July 28, 2019, 9:02 am
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CH7 Save Waypoint does not work

July 28, 2019, 1:51 pm
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Skid Steering Motor Test vs Manual mode directions

July 28, 2019, 10:16 pm
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@andrewmrobinson wrote:

Hi,
I’m trying to set up a boat using skid steering. I’ve set Servo1 to ThrottleLeft and Servo3 to ThrottleRight.

When setting up the motors I go to the Motor Test page and use Motor C for left and Motor D for right. My issue is when I set up the reverse parameters on the Servo Outputs page correctly so both turn clockwise (forwards), then when I use manual mode with the RC Transmitter one motor (Servo3) goes in the wrong direction.

I figure there should be a setting to change how ardupilot splits the single throttle channel from the transmitter because if I reverse the throttle input in the Radio Calibration it reverses both motor directions. Any ideas?

Thanks

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How to reverse in Ardupilot Rover

July 28, 2019, 11:27 pm
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@reluctantgithubuser wrote:

I have a brushed motor w/esc.
When I give it 1000 microseconds it goes in reverse, 1500 neutral, 2000 forward, using a servo tester.
But in Ardupilot rover, using servo3 output (70 = throttle), it only sends 1500-2000 ppm when I advance the RC control (ch1) from 0 to 1000 % (1000 - 2000 microseconds).
I have the mot_pwm_type as normal (0).
Is there a way to have Ardupilot send between 1000-1500 to go in reverse?

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Diagnosing injected rtcm messages from MAVProxy to Ardurover

July 29, 2019, 5:13 am
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@Christopher_Milner wrote:

I’m working on a new MAVProxy module to receive GPS corrections from an NTRIP server and send them to Ardurover on my Pixhawk4 (for further forwarding to the Ardusimple GPS which is on the Rover).

My code is based on the existing MAVProxy module “DGPS” including verbatim copy-and-paste of the method send_rtcm_msg(self, data) (here).

MAVProxy is running on a Raspberry Pi connected to Telem2 on the Pixhawk4 (and this connection works: I can send and receive messages from MAVProxy to Ardurover just fine). RPi has a cellular modem for internet connection, also working fine.

For what it’s worth, NTRIP corrections from Mission Planner, sent over RF, connected to Telem1 (i.e. not using MAVProxy), work just fine. Ardusimple GPS switches to RTK mode.

My MAVProxy module is connecting to the NTRIP server, receiving RTCM messages, and seems to be sending them to the Pixhawk4. However my Ardusimple is not switching over to an RTK mode. The messages are either (a) not getting delivered to the Ardusimple, or (b) have incorrect contents in them somewhere…

So, question is, how should I diagnose, on the Pixhawk/Ardurover, whether (a) it is receiving the messages coming in from the MAVProxy on Telem2, and (b) whether it is forwarding them to the Ardusimple. There has got to be a debug log or setting screen somewhere where I can check whether these messages are arriving, and whether they are being forwarded, but for the life of me I can’t find it.

Thanks in advance. When I get mavproxy_NTRIP.py module working I’ll submit it for inclusion in a future release of MAVProxy…

Chris

@njoubert @tridge @tridge2 @rmackay9

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Feature request? Auto mode max speed adjust from RC

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

Edit: Seems it’s not available in Rover, but available in Copter. Can this be a feature request?

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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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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Tuning Issue with Standard (non-pivot) Steering

July 30, 2019, 7:20 am
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@ktrussell wrote:

I am having trouble with standard turns in AUTO on my mower. In steering mode, the mower drives very well. I tuned the speed and steering loops in steering and got good results. In manual, it tracks pretty true, also. Pivot turns are working great, but if the mower gets off the straight path a little and needs to perform a non-pivot turn, it stops.

On the tuning screen, the steering piddesired is only moving up and down slightly around 0. It is as if the NAV L1 controller thinks all is well and is not requesting a turn. I have looked at everything I know to look at. I have varied the NAVL1_DAMPING, NAVL1_PERIOD and NAVL1_XTRACK_I methodically a LOT. I have also played with the steering tuning parameters.

The best way to demonstrate is to turn off pivot turns and run a mission, as you see here. You will see that as it makes some turns, it stops before it gets to the desired heading. If I do not touch the controls, it might finally pull out of the stall after several MINUTES. If I switch to MANUAL and back to AUTO, it takes off.

The parameters currently in the mower are not optimal. They are after a lot of tweaking on this problem.

Attached is a log, parm file and here is a link to a video showing the screen while testing. You will see the vehicle stop as I first switch to AUTO and it attempts to turn toward WP1 and again as it rounds WP1 heading to WP2. This behaviour is very repeatable.

I have been fighting this for a couple of weeks! Suggestions, PLEASE!


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Is it possible use sonar estimate velocity apply to Arduboat in Non-GPS

August 1, 2019, 7:45 pm
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@lmy568 wrote:

I have an idea to use sonar estimate velocity and position in Arduboat, just like the Optical Flow uses in ArduCopter.
Can somebody give me some advice? will be grateful

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ArduRover no signal to ESC or Servo

August 3, 2019, 2:39 am
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@DerSchakal1007 wrote:

Hi everyone,

I’m new to this forum and also new to ardupilot, but i have seen this is a good community and i look forward to see more projects here.

First of all i want to explain what i want to do with my ardupilot:

we had here some Topic about TrollingMotors @rmackay9 anserwerd there some questions but a documention about how to configure ardupilot for trolling motors is still missing.
My goal is to create a complete documentation to use ardupilot to create a cheap TrollingMotor with GPS and “loiter”

All my test will be postet here: https://www.opentrollingmotor.org and videos at: https://www.youtube.com/channel/UCVDB9ST9KKrJB6ykByx-pwA

If everything is completed and working i want to make for the rover a complete documentation how to setup a trollingmotor with gps.

And now to my problem:

Pixhawk 4 is configured as Rover frame class 2 (Boat), i did the calibration of Gyro and compass successfully.
I didnt have RC who can communicate with pixhawk thats why i dont want to use RC i changed these option in config:
-FS_THR_Enabled=0
-Arming_Check=8
-BRD_Safetyenable=0

Then i was going out to get GPS to test everything, i can arm the autopilot but my ESC and the StepperController are not working properly. the ESC is beeping and StepperController has red LED.
Here you can find two videos first about the StepperController, with my RC ist working good and second video Ardupilot Armed but ESC and Stepper not working:

Stepper:


Ardupilot:

Log and Config Data:
https://www.opentrollingmotor.org/wp-content/uploads/2019/08/Ardupilot/

It looks like that i dont get signals by PWM.

I hope you guys can help me, maybe I just forget something small toodo.

Thank you very much for your help and enjoy your weekend :slight_smile:

And sorry for my bad english…

Best Regards

Stefan

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