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ArduRover User Group

Dedicated to the exchange of useful information between members using the Arduino or other families of processors for autonomous rovers.

Members: 370
Latest Activity: 5 hours ago

Before Posting an Issue

Hi All,

Before posting an issue or a problem in the ArduRover Discussion Forum, please check the wiki table of contents, review the firmware release notes in the subforum, and search that subforum for existing answers to your question. Help avoid duplicate threads by finding other members with the same issue and their solution.

When formulating your post, use a descriptive title such as "rover will not navigate to waypoints in the Auto mode" (not "HELP!" or "Problem").

Please include the following information to help diagnose your query:

  • Describe the problem you are having. What is the expected verses the observed behavior?
  • Provide hardware information such as the brand and version of your autopilot, GPS, radio, and compass, as well as any other pertinent details about your rover setup.
  • What version of the APM: ArdurRover2 firmware version are you running?
  • For navigation issues, provide your tlog and/or dataflash log. Click here for instructions on retrieving a dataflash log.

TCIII

Discussion Forum

Which firmware version is currently best

Started by RoboBill. Last reply by Thomas J Coyle III on Monday. 9 Replies

I read somewhere the official 2.46 had track steering problems. I understand the current beta fixes that issue. Many thanks to all developers. But the current beta now seems to have disabled the…Continue

GPS precision on pixhawk ?

Started by heliboy. Last reply by heliboy on Saturday. 2 Replies

Perhaps only the developers can answer this question. What is the resolution of the GPS2 input on the PIXHAWK ? If we had a decimeter precision GPS would the Pixhawk correctly use the higher…Continue

custom R/C controller and apm2.6

Started by Apostolos. Last reply by Thomas J Coyle III on Saturday. 5 Replies

Let me ask a silly question.I'm trying to build a custom R/C controller to control my rover.What sticks are used to control a 4wd rover with skid steering ?can someone explain what the left stick…Continue

Configuring the ArduRover with the Mission Planner

Started by Thomas J Coyle III. Last reply by Charles lakins Oct 12. 145 Replies

Hi All,I have started this discussion to help members, like myself, who have really had only limited experience with the Mission Planner (MP).Since the MP can download the latest or any version of…Continue

Comment Wall

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Comment by Bruce D. Sidlinger on February 16, 2014 at 1:39am

Beautiful, and I was just tonight ordering that chassis, the high gear ratio (low speed) version. Question, would this controller have been enough, do you think? http://www.dimensionengineering.com/products/sabertooth2x12rc

Comment by Gary McCray on February 15, 2014 at 10:02pm

Really clean install TC3 how do you like Wild Thumper?


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Comment by Thomas J Coyle III on February 11, 2014 at 5:39pm

Hi All,

I would like to announce that I have successfully implemented the Pixhawk firmware skid steering function on a 6WD Wild Thumper chassis using a Sabertooth 2X25 motor controller setup as two independent motor controllers, one for each side of the Thumper chassis.

Here are some pictures of the Thumper and its Pixhawk subchassis:

I raised the GPS/Compass module above the subchassis using a 2.5" high platform to mitigate the effects of the front motors' electromagnetic field. I got the compass deviation under power to go from an offset of ~40 deg to ~2 - 3 deg using the raised platform.

Regards,

TCIII ArduRover2 Developer

Comment by MikeRover on February 6, 2014 at 6:32pm

I've copied my AUTO mode questions to the [url=http://ardupilot.com/forum/viewtopic.php?f=26&t=6024]APM forum[/url]. Keen to hear others' suggestions.

 

 

Comment by Gary McCray on February 5, 2014 at 6:21pm

Hi Tom,

I haven't installed telemetry yet, but might be a good idea to do so soon, sort of taking this one one step at a time.

I have been fully charged though and limiting total running time to less than 8 minutes though with plenty of battery when I get back.

I will eventually replace with serious LiPo, but using stock NiMH for now.

However, you are right it could be power surge causing resulting short term voltage drop, I will look at logs and see what they show, should be obvious there.

Even on uneventful runs.

And of course, unlike APM, PX4 won't reboot in a useful fashion because you can't rearm possibly it might be worth removing (or modifying) this "safety" feature for this particular use.

It is getting better, now normally fails to Hold and haven't had another runaway - - - yet.

Turning down the Cruise speed probably has the bonus that it doesn't accelerate as hard so pulling less current and lowering voltage less - reducing likelihood of brownout.

Definitely do not want to do this in a small yard surrounded by 100'+ pine trees and a 2 story house though - multipath seriously screws it up on auto.

(You can see it wandering all over the place on MP even when it is sitting still.)

Not a problem though I already knew that.

It's getting there.

Thanks again,

Gary


Admin
Comment by Thomas J Coyle III on February 5, 2014 at 2:50pm

@Gary,

I had a case where I didn't keep track of the charge on one the NMHi batteries in one of my Slash Rovers and had a brown-out occur when I punched it hard in the Manual mode and the APM reset and the rover ran until the APM rebooted and went to neutral on the throttle:-)

Now I never let my NMHi 7 cell (8.4v) battery go below 8.5vdc. They will charge up to around 9.8vdc using the peak charging method and fall back to around 9.4vdc when I start to use them. Do you have the battery voltage setup in your telemetry?

Regards,

TCIII ArduRover2 Developer

Comment by Gary McCray on February 5, 2014 at 1:59pm

Hi Thomas, I have now also set my receiver failsafe to throttle mid position.

And as I said below tuned down the Cruise Speed and Throttle.

I don't think it should be a brown out causing the PX4 to reset.

I have my fully charged 8.4 volt NIMH battery wired directly to the PX4's built in power module and that seems like it should be plenty of battery and I ran the ESC BEC and servo power leads straight together as you suggested so ESC power isn't even going to the PX4.

The PX4 power supply comes straight from the cars battery.

Still, possibly with a real power surge or high current draw by motor I suppose it is possible it is pulling it down too far. (Have to think about that for a bit).

I have now configured pretty much everything I could find to encourage it to end up at 1500 pwm if anything goes wrong, we will see.

Thanks for your input it has been very helpful in finding my way through the intricacies of setting one of these up - I'll get there. :-)

Best Regards,

Gary


Admin
Comment by Thomas J Coyle III on February 5, 2014 at 12:48pm

@Gary,

Close, but no cigar:-) Sorry to hear about the runaway. Never a pleasant occurrence!

I always start out with a CRUISE_SPEED of 2 - 3m/s with a new rover.

You might want to set the CRUISE_THROTTLE at 25 - 30.

All of the Traxxas ESCs that I am using will turnoff with their on/off pushbutton no matter what happens to them. No exceptions.

Sounds like there might have been a brownout as the PX4 went into reset.

Unlike the APM, the PX needs to be armed after boot-up. I had Tridge set the throttle output of the APM to 1500us (neutral) after boot-up so if there was a reset, the rover would stop as soon as boot-up was complete. Not perfect, but something is better than nothing:-)

To be honest, I have never run my PX4 equipped Traxxas 1/16 Fiesta rover in Auto, but never had any issues in Manual.

Also, never had a runaway with my Pixhawk equipped Traxxas Slash Rover in Auto --- yet:-) 

Regards,

TCIII ArduRover2 Developer

Comment by Gary McCray on February 5, 2014 at 11:01am

Hi Thomas and everybody,

I agree, I will start a discussion about this and close out the comments on it here with a short update.

Took it out and used it in Manual Learn and Auto yesterday and aside from seeming to skip first waypoint worked fine 3 times in learn and then auto unfortunately the 4th time took off straight towards first waypoint and kept going.

And Going - switching to learn or manual did not help, no steering or throttle control. Finally ran into a tree and sat there spinning all 4 tires spitting dirt till I got there and disconnected the battery.

The PX4's safety button light was blinking indicating the PX4 had reset, rearming it had no effect and the ESC's button would also not turn it off.

I have now set up a radio failsafe so that 5 seconds after it loses radio it goes into Hold - this will help with some runaways.

But I have an issue where if it gets a severe bump it will reset the PX4 (which because of it's arming button cannot be reengaged on the fly) and unfortunately it just seems to keep going under these circumstances and not even my ESCs button can turn it off.

It is possible that my Traxxas's brushless reversing ESC is, itself crashing under these circumstances.  (only disconnecting the battery will stop it.)

In any case I have tuned down the "cruise" speed so that I should be able to catch it if it determinedly gets a mind of it's own again.

I still think that reverse is handled as an afterthought basically just by providing the opportunity to set RC3_TRIM to the middle so that HOLD can bring it to a stop.

But, that is also something I can look into improving on my own.

Best Regards,

Gary


Admin
Comment by Thomas J Coyle III on February 5, 2014 at 8:38am

@Michael,

I have emailed Tridge asking him to take a look at your issues.

Regards,

TCIII ArduRover2 Developer

 
 
 

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