Comment by Chapelat Daniel on May 13, 2012 at 10:03am

Bonsoir Jean Louis
I download APMrover21_alpha_firmware because tomorrow I will befree for testing, I just can not configure channel 5 and 7 with APMplanner1.1.85?
Did you change anything at this level or is it due to the updating of APM planner 

Thank you and congratulations
Daniel cordially

Developer Comment by Jean-Louis Naudin on May 13, 2012 at 10:20am

Hello Daniel,

I haven't changed anything about the channel 5 and 7 in the APMrover 2.1.2 alpha

Regards, Jean-Louis

Comment by Franco Borasio on May 13, 2012 at 10:57am

Hi Jean-Louis

I've tryed the new version and now is all OK!!!! the problem was due to something in 2.0b revision, because I've compass with components "down" and now I've change from arduino and everything is allright.

Is very strange that in revision 2.0b it was ok without any change !!!!!

The sonar is ok it too, I've change the range from arduino at 200 cm, otherwise the car can not turn in time, and I've make an offset of the sonar about 25° in the sky. It will be very confortable if we can change the sonar distance directly from mission planner.

Another thing is to control the "start accelleration" parameters, because when it start or stop, the movement is very hard...... there is some parameter I can change? if I drive it in manual mode I can make very soft accellerations with throttle stick.

Compliments for your efforts.!!!!

best regards

Franco

Comment by Chapelat Daniel on May 13, 2012 at 11:38am

Bonsoir Jean Louis
A Force To have bugs with windows I'll become a pro .. sic ..!
I think the update APM planner was not appreciated by microsoft;
I will thank you tomorrow morning plunges
thank you
Daniel

Developer Comment by Jean-Louis Naudin on May 13, 2012 at 2:13pm

Hello Franco,

Glad to see that you have succeed in the test of the APMrover 2.1.2.

I have added a new param which can be updated with the APM mission planner:

ROV_SONAR_TRIG   set by default at 200 cm according to your test

latest update: APMrover 2.1.2a (alpha) at:

http://ardupilotdev.googlecode.com/files/APMrover21_alpha_firmware.zip

Regards, Jean-Louis

Developer Comment by Jean-Louis Naudin on May 13, 2012 at 2:14pm

@Daniel: Good luck in you soon tests of the APMrover 2.1.2

Jean-Louis

Developer Comment by Jean-Louis Naudin on May 14, 2012 at 4:20am

APMrover v2.1.3 release:

I have added a new feature: it is now possible to reset the home position without restarting the APM with the option switch SW7.

in MANUAL mode, if you put the roll stick to full right and then switch the SW7 to ON then OFF, this clear the list of the stored WP and also store the current location as the home position for the RTL.

The APMrover v2.1.3 firmware can be downloaded at:

http://ardupilotdev.googlecode.com/files/APMrover21_firwmare.zip

and pushed my GIT repository at:

Revision:392474c2df9d

Regards, Jean-Louis

Comment by Franco Borasio on May 14, 2012 at 7:03am

Hello Jean-Louis

I've now try the 2.1.3 firmware...... everything is OK !!!!!

for the instructions to reset home position, please write "HOLDING ROLL STICK TO FULL RIGHT" because may be people can find mistake, because they just turn to the right the stick and if they let it, it turn back to the center...

VERY GOOD!!!

Developer Comment by R_Lefebvre on May 14, 2012 at 7:30am

JL, I noticed you're doing much work in your clone, but only updating the version in trunk occasionally.  I was hoping to make a few changes as requested by Michael Oborne in order to develop our own environment for MP.

How is the best way to do this? 

Comment by Franco Borasio on May 14, 2012 at 7:31am

Jean-Louis, I'm thinking about a particular situation I found with sonar car.

If car is turning to the left for ritch a waypoint and in the same time it found an obstacle in front of it, it doesn't turn left or right, the car goes straight because of the sonar compensation. So the best way to jump this situation and other similar to this one, would be: IF SONAR DISTANCE IS LESS THAN ?cm (this must be a variable easy to change) THEN STOP, TURN THE WHEELS TO THE RIGHT, GO BACKWARDS UNTIL SONAR READ ?cm (this must be another variable easy to change) THEN GO ON WITH MISSION. It's obviously that if after this maneuver sonar read again a distance less than the first variable, the car repeat the maneuvre until it find a street without obstacles.

It would be a maneuver like if you have to go out from a parking (more or less) !!!!!

WHAT DO YOU THINK ABOUT IT? may be a good idea, just for now, in a second time you can implement it!!!! or we can thinking to put a servo under sonar, turn it left and right make a triangulation beetween the magnetometer and the sonar side at the moment it see an obstacle .................etc etc (like Robert said)

Best regards

Franco 

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