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Using only GPS to determine heading

August 21, 2019, 9:32 am
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@sethj wrote:

I am currently running APMRover on a pixhawk 4 and using Mission Planner. After disabling all compasses, I noticed that my heading was not matching the GPS track in Mission Planner. This tells me that the pixhawk is using more than just the GPS to determine the heading, even though I have all the compasses disabled. I figured this was likely the IMUs in the pixhawk that are also contributing. How can I make it so that the pixhawk uses ONLY GPS to determine the current heading? I looked quite a bit into how the sensor fusion works with the EKF (I am using EKF3), but with no luck.Thanks!

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SoloLink w/ Pixhawk Cube for Rover?

August 21, 2019, 11:01 am
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@RobotWerks wrote:

I have been searching everywhere for info on using the Sololink IMX6 board from the 3DR Solo with the Pixhawk Black Cube and cannot find much of anything.

I am hoping to use Sololink and the Solo controller (Artoo) from a crashed Solo with my 4wd rover project. It seems like a waste to have it and not use it. It also seems like a fairly decent companion computer for stuff like ROS, OpenCV, etc.

I have the original Mavlink telemetry from APM 2.6 as well as a Wifi telemetry board and ESP8266 available, but I’d really like to have the streaming video.

This is my basic setup:

  • Black Cube with mini carrier board
  • (4) VESC 4.12 ESCs
  • (4) 400w 60v wheel motors
  • Solo OEM GPS unit
  • Legacy GPS from APM 2.6 package
  • (4) 36v to 12v stepdown converters
  • (2) APM power module 1.0
  • (4) 36v Lipo battery packs
  • (2) 60v 12Amp DC-DC step-down converters
  • Custom aluminum/composite rover frame
  • Solex app on Android
  • Solo controller

I’m hoping to make this all work together rather than using an FrSky tx/rx + 5.8ghz fpv tx/rx + Telemetry.

Can this be done? Any tips?

Thanks in advance.

PS: I also need to figure out how to make the VESC ESC hall sensor data from the wheel encoders back to Pixhawk via UAVCAN.

I will also be adding a PX4Flow, proximity sensors, 360 2D LIDAR, a 6dof arm, a sprayer, a Storm32 gimbal and some other stuff once I get the rover put together and running missions.

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Kayak Assist for the Blind

August 22, 2019, 6:31 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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Anatomy of a Huge Self-Driving Mower

August 23, 2019, 2:07 pm
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BalanceBot Steering Out of Control

August 24, 2019, 7:13 pm
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@chuckl74 wrote:

My BalanceBot had been working fairly well until today. In manual mode it seems ok, but when it’s switched to the Acro mode, it goes berserk and accelerates to max speed spinning like a top. Can someone look at the log and see if they can identify the problem?
Mission Planner 1.3.68
ArduRover V3.5.1

Chuck

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Skid Steer Boat Logitech joystick issue(s)

August 25, 2019, 10:37 am
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@stevecooke wrote:

I have finished building a boat with 2 t200 thrusters setup in skid steer, I’m planning on using a Logitech control as the joystick I have a Ardurover set up that works great with the controller (its not skid steer) left thumb stick forward and back is throttle and right stick left and right is steering. I’ve been through the documentation left throttle and right throttle are setup correctly. however the controls are flipped, right thumb control left and right is doing the throttle and the left stick forward back is doing the steering, nothing I change seem to alter it. that set up,

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RC Failsafe time

August 28, 2019, 4:40 pm
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@edwardme wrote:

Hi all,
Currently, I’m experiencing some fail-safe triggering on RC brown outs. I’m looking for a way to give the FC a set number of seconds until it actually performs the failsafe. Example useful scenario:

When flying in Auto, I don’t want to trigger an RC Failsafe unless my RC Link has been down for 10 seconds.

Maybe this is already a feature but I couldn’t find literature on it.

Thank you!

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How to use power module on Beaglebone Blue Rover?

August 29, 2019, 5:01 pm
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@monkeypants wrote:

I am putting together a differential steering rover (Dagu Wild Thumper) with a BeagleBone Blue controller. I would like to know how to wire up the analog inputs from a voltage/current sensor (BATT_VOLT_PIN and BATT_CURR_PIN).

I more or less followed mirkix’s document here https://github.com/mirkix/ardupilotblue and imfatant’s document here https://github.com/imfatant/test, and with this glibc kludge https://github.com/mirkix/BBBMINI/issues/45 I can locally built ardurover 3.5 and scp it to my bbb where systemd keeps it running. I’m happy with my network setup (no telemetry modem at this stage, wifi is sufficient), I didn’t have to do anything to get SBUS from a frysky LR9 rc on E4-pin4 to work (does not work on the DSM connector), and GPS worked out of the box too. I plan to integrate a pair of i2c sonars but they haven’t arrived yet.

The physical GIO pins I know about (broken out of the board) are called BLUE_GP0_PIN_3, BLUE_GP0_PIN_4, BLUE_GP0_PIN_5 and BLUE_GP0_PIN_6. I don’t recognise them in libraries/AP_HAL_Linux/GPIO_BBB.h, and I don’t understand how the HAL works. So I can’t follow from autopilot side of the HAL abstraction to the physical side.

How do I to assign BATT_VOLT_PIN or BAT_CURR_PIN (or BATT2_* if I had one, which may be a nice since I’m running a secondary battery for the electronics)?

Even better would be an explanation of how to see that for myself, i.e. how do I follow from hardware, through AP_HAL_Linux to the autopilot config?

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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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ROS driven ASV questions

August 30, 2019, 8:57 am
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@elgarbe wrote:

Hi, I’m working on drive my ASV (differential drive catmaran, pixhawk, ardurover, raspberry pi) with ROS.
I want to confirm that /mavros/global_position/local is the current X-Y position, in ECEF coordinate and with origin in the home position. I mean, using this topic I can know the ASV position relative to the home position.
I want to confirm that using /mavros/setpoint_velocity(_position, I don’t remember wich one is correct)/cmd_vel I can gives velocity commands to the boat.
and finally I would like to confirm tha GUIDED mode is the one used to drive the boat with mavros and that I need to publish to cmd_vel topic at some rate before passing to GUIDED mode.

Thank!

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Yaw keeps moving even when vehicle is stationary

August 31, 2019, 2:12 am
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@mkonishi wrote:

My rover cannot detect yaw correctly; disarmed, stationary, but yaw keeps decreasing (or increasing, sometimes).
How do I correct that?

Dataflash log is here: dataflash_log.zip

  • ArduRover 3.5.1 with CubeBlack + Here2
  • Use EKF3
  • Accel / compass calibrated

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Arduboat Echomap survey

September 1, 2019, 4:42 am
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@amedina wrote:

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Hello all : This is my recent water survey proyect , is designed and developped from 0 , there´s few pictures. Two T200 Thrusters and Garmin Echomap Plus 62 with TH20 Transducer
I have connected the Garmin serial rs 232 output through max 232 ttl converter at serial 2 port of the Cube 2 ,
The settings that I have is :
SERIAL2_BAUD 4
SERIAL2_PROTOCOL 9 ( sonarrange )
RNGFND_TYPE 17 ( nmea )
RNGFND_MIN 20
RNGFND_MAX 20000
RNGFND_ORIENT 25 ( down )

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Is it possible to make auto pilot rover by use some hardware from quad copter?

September 3, 2019, 7:21 pm
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@zero wrote:

HI everyone, i need a little(?) help from you guys, i want to make rover or mobile robot with auto pilot and i have 6-fans quad copter, Is it possible to make auto pilot rover by use some hardware from quad copter?

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Ardurover Project Using Lego Technic RC

September 4, 2019, 8:47 am
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@Michel_Seguin wrote:

Hi all, first post here, but been doing lots of reading.

Really interested in the Ardupilot project and it’s various forms. Because I like to bite off more than I can chew, I’m looking to take a Lego Technic RC tank type thing (see image linked below) and wire it up with some Ardupilot hardware & a sonar sensor.

The RC in question:

The control hardware set I’ve been looking at:
https://bit.ly/2m0tpit (Links to an Ebay listing)

Now, from my understanding, I’ll have to look up the datasheet for these motors so I can plug in the values to ArduRover; and I believe these are brushed motors. Aside from the PWM setting, is there anything I’d need to drive these motors via ardupilot?

I’m also wondering if, since I’m replacing the control module with an ardupilot kit, if I just get rid of the existing battery and get a proper lipo & power module for the ardupilot board.

Links to good reading material on the subject greatly appreciated

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Student Group Seeking Guidance (Object Avoidance)

September 5, 2019, 8:39 am
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@magnann wrote:

Hello, we are a small group of students tasked with designing an autonomous boat. The tasks we need to accomplish include:

  • Path routing
  • Navigation
  • Collision avoidance/object detection

As far as we can tell, the first two requirements can be met with relative ease using ArduRover. Our main concern is whether or not ArduRover is capable of collision avoidance akin to the collision avoidance outlined in the tutorial for ArduCopter:

http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

We are also wondering which type of sensor would be most sensible to accomplish this task (ultrasonic/SONAR, LIDAR, 3D depth camera such as Intel RealSense, etc). The board we are using is the Pixhawk 2.4.8.

If anyone could point to specific resources that may help us accomplish this task, and recommend compatible hardware/sensors to mount on our boat, we would greatly appreciate it.

Thanks

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Building a rover/copter hybrid

September 5, 2019, 6:56 pm
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@MichaelD wrote:

Hi everyone,

I was thinking of creating a hybrid quad or hex-copter and ground rover for a project. Basically it would be able to fly like a regular multi-rotor, but then when it lands I could switch it to a rover and drive it along the ground. I tried searching for similar projects, but couldn’t find any. I was wondering if anyone was aware of any such projects online that I could take a look at as a guide?

Also, my understanding is that I would need separate flight controllers for running Arducopter and Ardurover. Is this correct?

If anyone could provide any tips or ideas for how this could work, I would really appreciate it.

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Setting up a rover without a transmitter plus advice on a controller for rover

September 7, 2019, 7:07 am
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@OldRaven wrote:

Probably yes, But is it possible to setup a rover without the need of a transmitter.

The reason I ask is we want to build a test rover platform to do measurements on a farmland autonomous.
So there is no need for a manual mode.
It basicly has to run a mission autonomous setup in mission planner and perform a certain action at given points.

I have a Kakute F4 V2 lying around and thought it was a good idea to use that for the test rover. But it’s a bit of pain to setup and I fear I will run into problems later.
What other boards/options are great for an autonomous rover on a budget?

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Loiter mode issues

September 7, 2019, 5:02 pm
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@SapoLAB wrote:

Hello community, i’m Nicola, experimenting with a 3mt. canoe driven by Ardurover 3.5.1 on a pixracer,external gps and compass, with a 56lb trolling motor, 60a esc and 25kg servo for the rudder, it’s more or less all working, it needs some more tuning but i’m very happy with it as a prototype!
I Just have some issues with Loiter mode wich i use against wind.
When activated if the canoes exits the radius with the back facing the target, the servo always swings back and forth some times before the motor is activated, here is a video:

is that normal and is it possible to smooth, like throttle slew, the servo movement for longer servo life?

Another issue is in strong wing, my canoe’s nose always turns in the opposite direction of the wind because of its shape.
In loiter mode with a small radius is set, the canoes tries to keep the back facing the target, the strong wind, often changing slightly the direction, drifts my canoe soo much laterally to the target, that at some point it goes foward, rotates on itself 180%, and reaches the target facing it, then the wind makes the canoe rotate again in the opposite direction, and this continues in loop.
Could be possible to have a LOIT_TYPE 2 option to force the boat always facing the target with the back, as opposite of LOIT_0?

Thanks in advance for any feedback and for the great work!

Nicola

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Bait boat 2 servo command in one WP

September 8, 2019, 5:51 am
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@ddrram2 wrote:

Hi all

I have a problem with servo working on my bait boat. In the bait boat i are px4 and ardurover 3.5.1.
The ship are two tanks. I send the bait boat in only one point int o one mission. I want to work two servos there, right at the target. I’m asking for help, idea.
What now. I make the mission to the Tower, arrives bait boat in wp, one servo is working 90 degrees and the other servo not. The servo that works - 90 degrees, should go back to normal but won’t go.
I read in the rover documentation that only one DO SET SERVO command can be used per mission. I’m sad.
I already thought about Arduino. That would also need help. I’m a simple driver, but I like challenges.

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ArduPilot vs Pixhawk!

September 9, 2019, 1:48 am
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@vladimin wrote:

Hi there! I am a newbie in this forum and need help to choose better solution to start new project upgrade of existing bait boat! What to choose ArduPilot or Pixhawk controller? Any suggestion would be so helpful for me! Thanks in advance!

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