Replies to This Discussion

Permalink Reply by heliboy on February 13, 2013 at 12:01pm

TCII:

Very good. I can verify that 2.30alpha_020913 code works in learn. I have a 3 pos switch so I have to flip it up and down but I can replace with momentary since now I know it works. Turns out you need to toggle it for at least a second to record the waypoint. I'm using 1.2.30 but I will try 1.2.35 now since you seem to be happy with it. Not too concerned about the IR code since I am making an independent obstacle avoidance system.

- Vijay

 

AdminPermalink Reply by Thomas J Coyle III on February 13, 2013 at 12:52pm

@Vijay,

I think that I was flipping the switch from low to high and back to low over the period of ~.5 sec probably.

MP 1.2.34 and 1.1.35 seem to tilted horizons even when the rover is level. Always a constant offset to the right.

Regards,

TCIII

Permalink Reply by heliboy on February 13, 2013 at 1:07pm

Is there a parameter to offset this ? Does it cause the steering to bias ? I am not sure it is handling the compass properly. It seem to veer more between waypoints. The GPS lock is excellent with hdop of 1.2.  I have APM2.5 and for whatever reason when I try live calibrate, it timing out with "not enough data in log". I will try with latest MP after the 6X6 dries out. It went through a pile of slushy salty snow !

- Vijay

AdminPermalink Reply by Thomas J Coyle III on February 13, 2013 at 7:06pm

@Vijay,

I had the same problem with the compass initially. The MP is still kind of flakey. I think that I got a good calibration on the third try. If you use the CLI to test the compass, run the GPS and INS tests first. If the CLI causes a reset, just restart the CLI and run the test function again. I had to run the compass test a couple of times before it worked.

Yes, I have seen minor offsets between waypoints, but nothing unusual. If you have the compass working, it will help to mitigate any wandering on the straight line path between waypoints. Remember, this is DIY and experimentation is the name of the game.

Regards,

TCIII

Permalink Reply by heliboy on February 19, 2013 at 8:25am

TCIII:

My build is going well but I really need to get attitude,direction, and speed data from the APM to the controlling Arduino.For example the obstacle detection range needs to be adjusted depending on speed. I was going to use the mavlink connection. Has anybody done this ? I was going to use the miniosd code to try and figure it out. Comments ? Also, am I correct in thinking that if I connect my arduino to the mavlink via USB, I will not be able to connect to MP wirelessly ?

- Vijay

AdminPermalink Reply by Thomas J Coyle III on February 24, 2013 at 1:28pm

Hi All,

Finally did my Federal Tax Return and found out that I will have a little extra money in my pocket within the next couple of weeks. So I decided to buy a Traxxas Slash roller chassis to use in the Sparkfun AVC next year.

Why the move to the Slash from the E-Maxx? Well, testing has shown that the E-Maxx has too high of a CoG for good cornering on dry pavement. The E-Maxx works well in the off road environment while the Slash, even though it can run in the dirt, is great for dry pavement. I plan to save the E-Maxx for off road RoboMagellan competion and will move ahead with the Slash for the Sparkfun AVC.

I did a lot of research on the Slash and found that there are conversion kits to use the Traxxas Rustler chassis to lower the CoG of the Slash. However the cheaper ones compromise the chassis structural integrity and the more expensive ones might as well not be considered to be a Slash. So I have found that there are sway bar kits of reasonable prices for both the front and rear of the chassis. Also the front bumper can be removed and replaced with a non-flexing aluminum version, but I will have to add padding to the front to prevent damage in the event of a crash. The non-flexing aluminum bumper will make the front sway bar more effective than the original flexible version.

I plan to keep the stock brushed motor and controller for now as they are pretty potent with the correct gearing. I think that straight away speeds of 30mph and fast cornering speeds with the latest version of the ArduRover2 code that allows for the cornering speed to be a variable parameter along with the ability to set the distance from the turn when the speed reduction begins to take affect will make the Slash a potent competitor.

More later.

Regards,

TCIII

DeveloperPermalink Reply by Linus on March 20, 2013 at 12:14am

Hi,

the Slash is a good choice in my opinion. cant wait to see it in action!

Regards,

Linus

AdminPermalink Reply by Thomas J Coyle III on March 20, 2013 at 5:47am

Hi Linus,

I have finally finished the Slash APM1.4/Oilpan navigation board and got the APM programmed with the latest code. I put an aluminum plate under the MediaTek V2.0 GPS, since the navigation board is high strength plastic, and I was able to get 9 sats indoors though the uBlox is definitely superior. The compass calibrated very nicely and now all I have to do is mount the Sharp medium range sensor up front for a start.

Regards,

TCIII

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