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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: 378
Latest Activity: Nov 21

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

uBlox LEA 6H on APM and Pixhawk

Started by Raimo Noormaa. Last reply by Raimo Noormaa Nov 21. 11 Replies

Hi,Before Pixhawk I used APM 2.5 with LEA6h, wanted to use it also with Pixhawk but was unable to do so. Now I connected Lea6H back to APM and got "no gps" message. Connected USB to Lea6h to see with…Continue

SBUS output on Pixhawk when ?

Started by heliboy. Last reply by Thomas J Coyle III Nov 20. 1 Reply

I understand that the SBUS output on the Pixhawk is NOT currently enabled. Does anyone know when this may happen and will it simply send the Pixhawk output signals  or also passthrough the incoming…Continue

First Rover Project

Started by Phill Scott. Last reply by Phill Scott Nov 7. 3 Replies

Hey guys,I've finally managed to make enough progress to get to a point where it's worth sharing my project.  Allow me to introduce Mog-Y!…Continue

Tags: nvidia, tamiya, jetson, 4wd, pixhawk

Pixhawk + Credit card sized PC + camera + OpenCV ...

Started by Raimo Noormaa. Last reply by Alex Warren Nov 6. 3 Replies

Hi,I started to play around with computer vision - recognizing some patterns is great. Currently do it on my laptop (MS VB + integrated webcam)I would like to hear your comments about using different…Continue

Comment Wall

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Admin
Comment by Thomas J Coyle III on August 5, 2014 at 5:40pm

@FD,

We have talked about implementing optical flow for the Pixhawk equipped rovers and that could possibly be in the mix for next years Sparkfun AVC competition.

Regards,

TCIII ArduRover2 Developer

Comment by FD on July 31, 2014 at 9:55pm

Hi all, has anybody ever thought about using optical flow for rovers in GPS-denied environment (such as indoors)?

This thread reminded my again of that possibility: http://diydrones.com/profiles/blogs/adding-optical-flow-to-the-mix

Any thoughts or even experiences with that?

Regards,

FD


Admin
Comment by Thomas J Coyle III on June 23, 2014 at 3:26pm

@Michael,

Some excellent observations and thoughts on future low cost (relatively speaking), improved heading accuracy GPSs.

Regards,

TCIII ArduRover2 Developer 

Comment by Bot Thoughts on June 23, 2014 at 2:28pm

For what it's worth -- @Tom, @RoboBill -- our team, SHARC, was also using a Hemisphere industrial grade GPS on our robot "Troubled Child," possibly the same model (an A100) as 0x27 was the prior two years.

I think we can safely say that our GPS worked quite well in Doping class this year. :) The specs quote 60cm accuracy 95% of the time. I fully believe it.

The consistency and accuracy were truly astonishing to me, who is used to making do with Venus, uBlox, etc. But then, Hemispheres are used to run farm equipment, ships, etc. So they have to work well.

I would hesitate to blame the Hemisphere for 0x27 not doing as well last year. Too many other things could've gone wrong. The list of potential failures for AVC robots is really rather long. :)

But as Tom said, they probably aren't cost effective for most. And I think it's clear from Data Bus and APM:Rover and others that GPS combined with other sensors can deliver quite decent performance.

I'd love to see the community push the envelope with GPS. Definitely keeping an eye on NavSpark, etc.


Admin
Comment by Thomas J Coyle III on June 23, 2014 at 10:44am

@RoboBill,

Nice setup. Clean installation.

Unfortunately Sparkfun does not presently allow an RTK transmitter during the AVC competition.

Also, using a high end GPS may not necessarily be that cost effective as a team using a $1800 commercial GPS did not do that well in the Doping class last year (2013) compared to their winning performance during the 2012 AVC which was held at the Sparkfun corporate offices.

I was able to approach an HDOP of 1.1 at the AVC competition in the afternoon using just an ordinary uBlox LEA-6 and I am now experimenting with a uBlox M8Q which should be able to get the HDOP below 1.0 without any trouble.

At the Boulder, CO AVC site I was able to attain the same number of satellites and HDOPs that I have observed here in southern Florida which helps me to create similar expected rover navigation performance on my simulated AVC course.

There have been posts recently on the Google drones discussion Group indicating that the NavSpark is capable of acquiring up to 21 satellites and it is very inexpensive compared to the Piksi navigation system and therefore more available to a larger number of users.

However that does not mean that we cannot push forward in developing GPS library code for the Piksi and other higher performance GPSs.

Regards,

TCIII ArduRover2 Developer 

Comment by RoboBill on June 23, 2014 at 10:01am

I've recently installed the new Piksi navigation system with my Pixhawk rover. Since the Piksi is new (with code in progress) I was wondering where all us RoverDudes could go to share Piksi/Pixhawk & NavSpark experiences. Since this is cross platform, do we form a new group or start discussions within each? 

Thanks

RoboBill

Comment by Kyle Campbell on June 18, 2014 at 3:31pm

I have no telemetry setup, so no battery monitoring. 

By just visual observation, the car varies by maybe 1.5m at most when running on the same waypoints?

My plan with the single sonar is to just have the waypoints slightly favor the inside line and have the car turn right (towards the outside) when an obstacle is detected. With a car as small as mine, it feels like it has plenty of room, so hopefully directionality won't matter too much.


Admin
Comment by Thomas J Coyle III on June 18, 2014 at 3:23pm

@Kyle,

If you are running telemetry, you can see it in the MP or the APM Planner.

You can also see it in the data flash logs that you can download after you have run a mission.

Are you monitoring your battery voltage in your GCS?

The number of satellites sounds good and just like that location last year.

I am able to get 12 -13 satellites here in southern FL just about all the time.

Since you are using only one sonar, how do you decide which way to turn once an obstacle is detected?

Regards,

TCIII ArduRover2 Developer

Comment by Kyle Campbell on June 18, 2014 at 2:44pm

I did find # of satellites, and it hops between 12 and 13.

Comment by Kyle Campbell on June 18, 2014 at 2:41pm

Thanks Thomas!

I'm getting ~ 3.75 m/s as I have the course measured at ~ 245m?

How do I find out how many satellites it locked and the HDOP?

 
 
 

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