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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: 371
Latest Activity: 8 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

Ardu Rover drive motor not working. Brownout results from commands.

Started by Jamie Glover. Last reply by Jamie Glover 8 hours ago. 2 Replies

So, I pulled out the ole Ruckus last night and put the good ole APM on it again. I have everything plugged up and I go to test it. Did the radio calibration and went to see if everything was…Continue

AVC or active vehical control on rover

Started by F. C. Bearsch "Tearig". Last reply by MikeRover 12 hours ago. 12 Replies

Having done this many years ago when developing in the fastest RC car on earth challenge with my friend Wolfgang soon after Kalman had released his specs on sensors in the early 2000s I wondered when…Continue

Tags: STC, pixhawk, vrbrain, DSC, control

GPS precision on pixhawk ?

Started by heliboy. Last reply by RoboBill on Wednesday. 3 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

Which firmware version is currently best

Started by RoboBill. Last reply by Thomas J Coyle III Oct 20. 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

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Developer
Comment by Andrew Tridgell on June 7, 2013 at 12:53am

@Mike,

I forgot to mention that there is a simple workaround for the bug. Just change the value to something else first - for example, change it to 0.1, write the parameter change, then change it to 0.0. It will then work.

Cheers, Tridge


Developer
Comment by Andrew Tridgell on June 7, 2013 at 12:26am

@Mike,

It's a bug which I fixed a few days ago. I plan on releasing a new rover version soon with the fix, but meanwhile you could load the 'latest' version from firmware.diydrones.com and that has the fix.

Cheers, Tridge

Comment by Mike Wilson on June 6, 2013 at 10:31pm

@ Tom or John,

I'm trying to set the Steer "D" values to zero but for some reason, the APM is not accepting the settings and they go back to 0.2 if I disconnect and reconnect to the APM.  If I write the parameters and then do an immediate read, the values are correct but if I do a disconnect and reconnect, the values are back to their default.

Am I missing something or is this a bug?

 

...Mike

Comment by John Hestness on May 30, 2013 at 8:34pm

@MV,

Unfortunately I did not save my parameters, but I believe they are the default parameters except the heading2steer and servo2steer, the "D" I changed to zero.  I have some other experience with tuning and it seems that the D parameter is not often needed.  I watched your video, your rover is running great. I look forward to hearing and seeing more.

@Mikel-Ange,

I think you are right, we need to build drones/rovers/robots that do real work. This is my real motivation behind the hobby.


Admin
Comment by Thomas J Coyle III on May 30, 2013 at 12:36pm

Hi All,

Today I verified John Hestness' observation that setting the D (derivative) of the two steering PID control loops to zero did indeed stop the jittery rover steering.

Regards,

TCIII

Comment by Gary McCray on May 29, 2013 at 6:09pm

@Jared,

Really nice design, stairs are a serious problem, great solution.

I am looking at similar electronic design to yours and am hoping to use PX4 as controller although it is a bit light on IO.

Another interesting possible option that I am also considering is a USB multiaxis (up to 9 axis) CNC controller from Planet CNC, they have a ton of IO and are set to handle Steppers (which I plan to use) as well as encoder feedback.

I am thinking of using Fit PC2i in same location as yours (with Kinect) although there are some other SBPCs I am looking at too.

The APM2.5 has quite a large amount of general purpose IO, but the APM software may not be ideal for you.

The PX4 supports the APM software, but it also independently supports ROS which would probably be better and easier to integrate with your FIT.

The Planet CNC controller has its own CNC G-code interpreter built in but comes with an SDK that will let you dial your own responses.

Here's a copy of their manual:

http://www.planet-cnc.com/files/CNCUSBController.pdf

The biggest problem I see is that you really need to combine the capabilities of Windows, Ubuntu Linux and ROS (at a minimum) to make this a reasonable undertaking.

Comment by KM6VV on May 29, 2013 at 6:00pm

@Jared,

Wow!  That's a unique set of wheels!  So all four wheels are independently powered?  I'm using a 2X15 A roboclaw (2 channels), so each set of 3 wheels is driven from a single motor on each side.

I designed and built my platform, and now I will design and program it for autonomous (robomagellan) moves.

Alan  KM6VV

Comment by Jared Crouch on May 29, 2013 at 5:37pm

@KM6VV

For motor control I'm using two SABERTOOTH 2X25 V2. They are capable of providing two DC brushed motors with 25A continuous current in the voltage range from 6-30V. Awesome feature is the regenerative braking, that feeds energy back into the battery on deceleration.

Some videos of the robot: http://www.youtube.com/watch?v=uIqxaYnlYOM and http://www.youtube.com/watch?v=u3vQKYAOqeE (the guys in the vids designed and built the platform, now my task is to get it to an autonomous stage.)


Admin
Comment by Thomas J Coyle III on May 29, 2013 at 5:05am

@John,

Nice work. I have noticed the low frequency jitter in the steering also, but it seemed to average out to zero so it did not appear to have any real affect on the steering in general. However, I plan to be testing today and will try a D setting of 0 to see if the jitter goes away.

Also, you might want to experiment with HDNG2STEER_P and XTRK_GAIN_SC.

You might try increasing HDNG2STEER_P  to .9 or slightly more and XTRK_GAIN_SC to 140.

Regards,

TCIII

Comment by MVeloso on May 29, 2013 at 1:37am

@ John

What PID are you talking about? Heading2Steer ?

Could you please post your all values?

And what APM are you using?

Thank you.

Regrads.

 

MV

 

 
 
 

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