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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: yesterday

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 yesterday. 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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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?


Admin
Comment by Thomas J Coyle III on June 18, 2014 at 2:26pm

@Kyle,

Good work!

Based on the time, it sounds like your rover is running around 6m/s.

How many satellites did you acquire and what was your HDOP?

I was able to acquire 12 - 13 satellites last year and had an HDOP of around 1.3.

My M8Q GPS arrived today, but I do not think that I will try to take it to the AVC as it still needs a 3DR configuration file that will work with it.

The weather on Saturday is supposed to be good with just clouds.

Regards,

TCIII ArduRover2 Developer

Comment by Kyle Campbell on June 18, 2014 at 2:12pm

Did some quick testing today. The car now has single-sonar obstacle avoidance. Took me a while to dial that one in. Had to tilt much more than I expected and extend out the action distance to have it reliably avoid stuff. 

But the car is running the AVC course (sans actual boundaries and obstacles) in just over 1 min (~1:06). That includes slowing around corners and slowing where the barrels will be. My current speed looks solid, but on the conservative side. I might up it a bit, perhaps for later heats depending on how it goes. 

 
 
 

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