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Manual compass offset tuning?

August 4, 2019, 8:20 am
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@Pflumph wrote:

My rover is having compass issues. (PX4 + M8T + fake M8N)
I took it out into the wild for testing yesterday. I’ve added a fake M8N to my M8T, pretty much just for the external compass. Both GPS are getting 14+ satellites and GPS status of 4. My GPS heading is perfect when moving, but my compasses were off dramatically.
When I started, my compass heading was about 45 degrees right of (accurate) GPS heading. I tried calibration a few times (difficult on a 150# rover) and the problem got worse. Now it’s about 120 degrees right of actual heading.
I’ve done a lot of search on the topic, and found the helpful post by @TeknoMike on compass configuration. Unfortunately, with one compass enabled, tuning always fails. I have this significant deviation. With both enabled, they aren’t even close to the same heading, which causes an error.

Question: Can I just input a manual compass offset? Let the thing calibrate (incorrectly) and then just input a -Yaw offset? Once calibrated, the error is consistent.

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Antenna Pattern Measurement using ArduRover - Autonomous Surface Vessel

August 4, 2019, 10:13 am
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@around wrote:

IMG_1531
IMG_1531.jpg1024×768 203 KB

I am using ArduRover (3.5.1) in an autonomous surface vessel to map the antenna patterns of oceanographic radars (CODAR systems).

IMG_1533
IMG_1533.jpg576×768 52.4 KB

CODARs are HF radars that measure surface currents. The antenna response pattern must be mapped before the data can be used. This was normally done with small boats but a group from UC Santa Barbra did some work on using fixed wing, multicopter and autonomous boats to map the antennas. My system is a modification of their initial designs. The vessel is an air boat with kick up rudders to avoid issues with kelp beds that are present at most of our radar sites.

A small signal source or transponder is moved at a constant speed (1 m/s) in a 300m arc around the antenna while the radar collects data. The response of the antenna is then used to calibrate the radar.

APM%20Track
APM Track.jpg1024×616 83.1 KB

Here is the mission track of a recent calibration run in the Juan Du Fuca Strait.

Cheers,

Adrian

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How to finalize Pixhawk installation

August 4, 2019, 11:26 pm
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@Andrea_Cecchetto wrote:

Hello, my name is Andrea and I am pretty new with Pixhawk.

I bought an RC car (FTX Canyon).

Question is: could I keep existing ESC, receiver…or do I need to buy more dedicated components of Pixhawh?

In case of keeping, how to properly connect cables? Here below pictures of RC car:

In the meantime I had started to install Pixhawk components:

Thanks for your support. Regards.

Andrea

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Motor only works with either transmitter OR autopilot, but not both

August 5, 2019, 12:16 am
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@stevenette wrote:

Hello,

I finally got my transmitter working, but now I am having issues with the motor.

I have a pixhawk connected to 1 servo in channel 1 and motor connected to channel 3. The ESC is programmable, but I took the brake off etc. My transmitter is a taranis x9D plus and receiver is X8R.

Problem: I have programmed a switch to have either manual, hold, or auto mode. This works fine. When in manual mode, the steering and throttle work just fine using SERVO3_Function = 53 (RCIN3). When I switch to hold or auto mode, however, the steering doesn’t work (Duh), but when I move the throttle up or down, the motor zooms up and down as well. To change this I switched SERVO3_FUNCTION = 70. But when I do that I can’t get the transmitter to work at all with the motor, and the motor sometimes goes out of control. (I burned one motor up this way I think!?)

How can I adjust any parameters to allow for transmitter control in Manual mode, and only manual mode, and everything else work like it should?

I will try to upload my parameter list if I can figure out how. Is there anything else I need to describe/upload?

Thank you!

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Am I getting sub-centimeter? I can't tell

August 5, 2019, 9:04 pm
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@Pflumph wrote:

I’m hoping this is an easy one. I’ve got a PX4 with an M8T on-board and also a Chinese M8N, mostly for the compass. My GPS status is consistently “4”, though I’m not sure what that means. I’m also using the state network for NTRIP.

How can I tell what my accuracy is? Is it GPS HDOP? And if so, is that in decimal meters of accuracy? I’m getting .4 to .5 HDOP numbers, but I have no idea how to tell if that’s raw GPS or what, if any, the NTRIP feed is contributing.

Where can we get a measurement of accuracy on the GPS position?

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FYI for Arduboat enthusiasts

August 7, 2019, 1:02 pm
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Obstacle avoidance help me

August 7, 2019, 8:37 pm
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@blueberrywaffle wrote:

Hi everyone. Write here for the first time.
Currently, I’m a beginner and I’m aiming for rover’s autonomous driving.
However, I am facing various problems in progress.

One of the problems is that the sonar sensor responds in manual mode but The sonar sensor is not recognized in auto mode.
I’ve tried using the parameter values ​​of Dodge Avoidance and simple Avoidance described in the Ardupilot, but It didn’t stop or avoid them in front of the obstacles.
As a beginner I can’t figure out what’s wrong.
Please help me how to change parameter values

I need your help.
thank you.

I’m working on the Pixhawk 2 Cube and Lightware’s SF11.
The parameter values ​​I changed are:

RNGFND_TYPE = 7 (LightWareI2C)
RNGFND_ADDR = 102
RNGFND_SCALING = 1
RNGFND_MIN_CM = 5
RNGFND_MAX_CM = 12000

RNGFND_ORIENT = 0
PRX_TYPE = 4
AVOID_ENABLE = 7

RNGFND_DEBOUNCE = 2
RNGFND_TRIGGR_CM = 100
RNGFND_TURN_ANGL = 45
RNGFND_TURN_TIME = 1

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Problem left steering tank ardurover 3.5.1

August 8, 2019, 1:31 am
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@Fabio85 wrote:

I have a problem with the pixhawk controller’s output signal. the rover is set with channels 1 and 3 with 73 74. everything works correctly, except the steering to the left from a standstill (I disabled the GPS and I have no signs whatsoever on problems).
on the movie you can understand better. I think it’s a problem of code, I did various tests to change the settings and read various posts but I couldn’t solve!
I thank you now for the help !!!

to see the video download from http://gofile.me/2YpI4/iwEw5i9e7

(it’s on my home NAS)

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Differential Steer Settings Arduboat Frame_Type

August 9, 2019, 2:41 pm
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@Lj98 wrote:

Hi, I am making a boat with two motors, and no rudders controlled by ardurover.

From this thread, it seems that you should only need to set frame_class to 2, and frame_type to 0, but my mission planner full parameter list does not even list frame_type as an option. In the picture below, you can see that the frame_type parameter does not show up.

What parameters should I change to get diff steer?
Is there a different way to set up differential steer?

Thanks

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BalanceBot Power

August 9, 2019, 8:18 pm
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@chuckl74 wrote:

I’ve put together a BalanceBot using planetary gear motors with lots of torque - 416oz-in. https://www.servocity.com/313-rpm-hd-premium-planetary-gear-motor-w-encoder I wanted the larger motor for the power to go up inclines in our landscaping that is cover with small landscaping stones. However, the Bot, when on the incline, falls over as more pitch/throttle is added in Acro mode. What settings should I be adjusting to get more power to the wheels without is falling over prematurely? It goes across level ground covered with the landscaping stones with ease.
https://smile.amazon.com/clouddrive/share/jMUIRPWcVkab4UfZVykAC8UHaSA8mpKbfFJMBCYH7sF

Chuck

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Reversing the roll channel disables throttle control

August 11, 2019, 3:35 pm
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@Daniel_Riley wrote:

I’m trying to set up a skid steer rover and am having some issues with the radio inputs. When the roll channel is not reversed in Ardurover everything is fine (other than steering being backwards). When I reverse the roll channel I still have turning control but no throttle control. Of course an easy fix for this would be to just reverse the roll channel in my radio but all my other ArduPilot vehicles use the same radio profile with no issue so it seemed strange.

Video of the issue:

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Why the vehicle moving direction is opposite to the compass direction displayed in QGC?

August 12, 2019, 6:12 am
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@hughhugh wrote:

Hi.
Recently, I am trying to make a arduboat based on the ardurover firmware. I have completed the assembly. And I can control the boat manually. There are four thrusters mounted on the boat. It is Omni plus type. But when I am trying to guide the boat using waypoints. The boat 's moving direction is just opposite to the arrow displayed on the QGC. Anyone knows how to figure it out. Besides, the thrusters are mounted on the surfboard, it is very sensitive to the force. How to tune the pid parameters to make the boat surge very well.
Thank you.

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Disable EKF on gps coordinates

August 13, 2019, 7:51 am
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@evanblough wrote:

Hello,
I am working on a research project for precise autonomous navigation. Our rover is setup on a Pixhawk 2.4.8 that runs Ardurover 3.4.2. The rover is supposed to take photos in a soybean field. We are running into an issue with our autonomous navigation. We need the vehicle to move with precision of a few centimeters, so we have attached an Emlid RTK GPS module to the pixhawk. The Emlid works fine, but we are having an issue with the EKF. I believe the auto mode in Ardupilot uses global position int to navigate instead of the raw gps data from the emlid. It uses the raw gps data to calculate the global position int, so is there anyway to disable the filter to not change the gps coordinates from the RTK ? The RTK position is already very precise and we don’t move at speeds where the accelerometer readings are necessary. The only things we should be using to navigate are the compass sensor and the RTK gps. The rover moves in mostly straight lines and does two 90 degree pivot turns at the end of the fields.
Here are the parameters currently set on the pixhawk. If you have any recommendations about parameters we could tune or modifications to ardurover, Please let met know.
SmallRobotAugust7.param (12.8 KB)

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Unexpected command from mavros

August 13, 2019, 2:21 pm
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@v-to wrote:

I am using Ardurover for floating drone and working on anticollision system.

I am trying to send mavlink commands via mavros to ardupilot rover.

mavsafety arm/disarm is working fine, but I can’t change mode of the autopilot.

I am sending message with: rosrun mavros mavsys mode -b 4
I am getting response: CMD: Unexpected command 11, result 3

I run out of ideas how to solve this. Any idea of what might be the issue?
Any help appreciated.

All the best!

v-to

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Rover 3.6 release

August 15, 2019, 7:23 am
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@kkarl wrote:

Hi @ all,
have any a Roadmap and a Feature list for the Rover 3.6 ?

Kind Regards
Daniel

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Roadmap Rover 3.6

August 15, 2019, 7:28 am
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@kkarl wrote:

Hi @ all,
have any a Roadmap and a Feature list for the Rover 3.6 ?

Kind Regards
Daniel

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New source for waterproof servos, thrusters, and cables/connectors

August 15, 2019, 7:05 pm
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@Damon wrote:

Hi everyone, this is Damon McMillan, the creator of the solar-powered autonomous boat, SeaCharger. I’m going to make a shameless plug for my new business, Blue Trail Engineering.

As I was building SeaCharger, I was frustrated that I couldn’t buy many of the components that I needed most, in particular a truly waterproof servo, an efficient waterproof thruster, and inexpensive waterproof cables and connectors.

I founded Blue Trail Engineering to meet those needs, and we are now open for business. Please check it out! I’m hopeful that I can make it easier for others to build long-endurance boats like SeaCharger.

Damon McMillan
Blue Trail Engineering

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Rover brushed esc setup questions

August 18, 2019, 6:36 am
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@OldRaven wrote:

I’m setting up a tracked rover with a kakute F4 V2
I’m a bit lost with getting the motors to work.

Left and right track both have their own motor and brushed esc (from an rc car)

What are the steps to follow to get them to work in arduoilot setup.
The board works, GPS works, transmitter works.
In the transmitter page the stick outputs work.
I setup an arm switch.

Left motor esc is connected to motor1 and the right motor esc is connected to motor3 on the board.
I don’t use the 5 volt wire from the esc since the esc’s are powered seperatley by their own battery that powers the motor.
So I only use the signal wire (and also connected the ground wire to the PDB)

Motor test does nothing.
I have servo output 1 set to throttleLeft and servo 3 set to throttleRight.
Is it normal that I don’t see any servo output when I move the sticks like you so in the transmitter setup page?

Help, seemed to have tried al I think there is to try.

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Mission command "Delay" in ArduRover

August 19, 2019, 7:07 am
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@oktoo wrote:

Hello everybody,

Question: Is there a way to have a Delay mission command in Ardurover, just like in Copter? I would like to refer to the absolute UTC time, i.e. wait until 8:30 to start mission.

I know, this question has been asked twice by Dorian in
Mission command "delay" in absolute time with APM:Rover? and
Command delay in absloute time and polygon fence in rover
but apparently there’s no solution so far.

I’m happy about every hint!

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Kayak assistant for the blind

August 21, 2019, 7:06 am
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@Rupert_Powell wrote:

I am looking into the feasibility of an assistive device for a blind kayaker, They would like to set way-points down a river and receive instruction (sound/voice/haptic) to help them steer a safe course. Avoiding obstructions and other craft. They will be with other people so there would be a safety-net (so to speak). It seems at first glance that this system could provide the necessary back-bone to such a system. The only difference is that rather than control motors (like on a boat) we would need instruction. I am a competent Python programmer (with some C/C++) and have been using Raspberry Pi’s and BBB’s for years, so I am not afraid of custom electronics and programming. Do you guys think this would be possible, or am I wasting my time?

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