Comment

Admin Comment by Thomas J Coyle III on April 29, 2013 at 3:32pm

@Linus,

I was trying to find the info on how the 2 way switch works in the different modes and you have presented it well for all to see.

Regards,

TCIII

Admin Comment by Thomas J Coyle III on April 29, 2013 at 3:22pm

@Mark,

I use 1 meter. With the presently available GPSs (uBlox LEA-6 being the best) for the APM there is no way to achieve 0.1 meter except by accident. If you would like to invest in a $1,800 GPS and pay a programmer to interface the GPS to the APM, you can most likely get down to 0.1m consistently.

Presently there is no way to record and replay speed, steering and duration in the ArduRover2 code. You can only record waypoints that are driven to at the set CRUISE_SPEED. Since the accuracy of the GPSs can vary by at least +/- 1 meter at any given time, your waypoints can be up to +/- 1 meter off from the actual recorded waypoint. I am speaking from experience. At the start of a rectangular course my rover becomes more and more accurate with each pass around the course as the GPS accuracy improves for that patch of Earth.

Regards,

TCIII

Developer Comment by Linus on April 29, 2013 at 3:16pm

Hi,

i use my modified turnigy 9x transmitter for changing the available 6 modes, wp deletion,learning and RTL.

have replaced one pot on my radio with a ready made 6-Position i bought.

be aware of that if you flip the LEARN switch in MANUAL mode you are deleting them all at once.

also when in AUTO mode the switch will trigger RTL (RTH).

if you have speakers you can enable speech in Mission Planner settings Tab and hear if waypoints get recorded.

Regards,

Linus

Comment by Mark Halliwell on April 29, 2013 at 3:05pm

Hi,

The current discussion on recording waypoints prompts me to ask two questions which are sort of related:

1. The APM parameters list shows "

Waypoint radius (APMrover2:WP_RADIUS)

The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.

• Range: 0 1000
• Increment: 0.1
• Units: meters"

What is the minimum radius achievable? As I read it, the range is 0-1000m with increments of 0.1m but I'd appreciate some guidance. I'd like to be able to get 0.1m radius for my project but I suspect that this parameter was setup by the flying community for which 1m would probably be more appropriate.

2. If I want my rover to follow a predetermined track on a repeatable basis, can I somehow record the various inputs (throttle position, steering position, durations etc.) and have them replayed like one might do when recording a macro in Excel? My aim is to drive a circuit, record it and then drive it again from memory.

Regards,

Mark

Comment by John Moore on April 29, 2013 at 2:45pm

@TC, Thanks

Admin Comment by Thomas J Coyle III on April 29, 2013 at 2:41pm

@John,

Yes, after recording waypoints in the learning mode with the momentary toggle, you can hook up the MP and using the Flight Planner to read the waypoints into the MP that you had previously recored in the learning mode.

I have done that after using the learning mode to record waypoints on my test course. I then used the Flight Planner to review the waypoints that I had previously recorded in the learning mode to see where the rover thought it was on the course.

Regards,

TCIII

Comment by John Moore on April 29, 2013 at 2:17pm

@TC,

From a clean start, can I set Waypoints while in learning mode via the momentary toggle, then read them from MP?

 

John

Admin Comment by Thomas J Coyle III on April 29, 2013 at 12:59pm

@Pooja,

The 2 way switch (low PWM to high PWM and back to low) is for recording, deleting, and RTL waypoints when in the learning mode. The 3 way switch is normally used for setting the manual, learning, and auto modes. You really need a 7 channel R/C transmitter with a 2 way gear switch (for setting waypoints in learning mode) and a 3 way flap switch (for setting APM modes) as a minimum to implement the rover modes and waypoint capture.

@John,

The APM will accept waypoints setup in the Flight Planner when it is in the manual mode. Once the waypoints are established in the Flight Planner they are written to the APM with the Write button. You can read them back with the Read button.

Regards,

TCIII

Comment by John Moore on April 29, 2013 at 12:43pm

To All,

Regarding Pooja question, does the APM only accept waypoints when in "Learning" Mode?

 

@Pooja

Have you tried changing the Manual mode on the switch to Leaning (giving you Leaning an Auto) an tested loading Waypoints an switching to Auto?

 

John

Comment by Pooja Velaskar on April 29, 2013 at 12:32pm

As I posted earlier, I set throttle and roll assignments for my ardurover. I mapped waypoints in the Mission Planner and wrote them to the APM. It works well in manual mode but as I flick the 2-position switch to Auto (I can see the mode-switching on CLI),it does not work. What are the things I should take care of to make this work?

Pooja

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