Comment by Franco Borasio on May 14, 2012 at 12:56pm

Hello Jean-Louis,

OK!!! I stay tuned !!!!!!

Regards

Franco

Developer Comment by Jean-Louis Naudin on May 14, 2012 at 10:06pm

@Robert: Ok, for the update about the "learning" mode instead of "stabilize" mode. Until the MP is updated, we keep as the stable version for the APMrover the v2.1.3 and the v 2.1.4 in a "under dev" state.

FYI: Today, there is no improvement or no new features between these two version. The only differences are located in  the compatibility with the mavlink library and the "learning" mode Vs the "stabilize" mode. So, for the tests fields we use the APMrover v2.1.3 until the APM mission planner will be updated by Michael.

Regards, Jean-Louis

Comment by Chapelat Daniel on May 15, 2012 at 12:35am

Hello Jean Louis

My problems are solved with radio "PMrover214_new_mavlink" Iallowed myself to hereby amended: APM_Config_Rover.h this wayfor the Xbee communication:

// Serial port speeds.
//
#define SERIAL0_BAUD 115200
#define SERIAL3_BAUD 57600

  Good test for my part I will do tests on my return Friday

Regards Daniel

Developer Comment by Jean-Louis Naudin on May 15, 2012 at 1:15am

Hello Daniel,

Glad to see that you have solved your Xbee communication problem and that the test of the APMrover is now OK for you.

Good recovery and see you on Friday,

Regards, Jean-Louis

Comment by Franco Borasio on May 15, 2012 at 1:46am

Hello Jean.Louis,

can we have a parameter for control the start and stop acceleration of the rover?

until now when I start with auto mode, the car has very hard start and stop. If we can control the acceleration parameter, it will be amazing!!!

Best regards

Franco

Developer Comment by Jean-Louis Naudin on May 15, 2012 at 2:21am

Hello Franco,

This can simply done by reducing the Energy/Alt PID gain, it is currently set at: 0.1

may be you may try 0.05 or 0.02 (in Arduplane PID window)

or in the Parameters list: ENRGY2THR_P (proportional) you may also trying to tune ENRGY2THR_I (Integral) and ENRGY2THR_D (Derivative)

Happy tuning, Jean-Louis

Comment by Franco Borasio on May 15, 2012 at 3:47am

Hello Jean.Louis

I've try with suggested regulations, I've also try with Integral and Derivative term (positive and negative), but changing all of them, I've a normal velocity reduction and not a soft start and soft brake. It's obviously that reducing the velocity the start and stop are a little bit slow. What I mean is to have a constant good velocity, and in the same time control the start and stop motor function. Is like we need a logaritmic throttle curve reponse instead of linear throttle curve for control only the accelleration and brake function.

Regards

Franco

 

Developer Comment by Jean-Louis Naudin on May 15, 2012 at 6:21am

Hello Franco,

May be you may try to use the parameter THR_SLEWRATE this allows to damp the increase/decrease of the throttle in % change per second maximum. This is only used in AUTO mode. If it is set to 0 (by default) the throttle_slewrate is disabled.

Regards, Jean-Louis

Comment by Franco Borasio on May 15, 2012 at 7:21am

Hello Jean-Louis,

THR_SLEWRATE make a strange effect. If you set it to -10, the rover begin to go forwards for 3 meters, after stop very soft (and this is good) and start do go backwards by it self with a very soft acceleration (the acceleration is perfect but not the direction). After that if you set it to +10, the car start to go backwards, after 3 meters stop very soft, and start very soft to go frontwards.

After this if you don't change it, and put rover in manual and after in auto, it start hard like usually.

I think all these pid doesn't control right the car, may be are good for a plain but with rover they do some strange effects!!!!

I think is better to do it with the program or with a dedicated pid parameter.

What do you think?

regards

Franco

Comment by MVeloso on May 15, 2012 at 8:15am

 

 

Hi,

 

Jean-Louis thank you very much for work

 

This is my rover with:

 

-       Mega motor(aircraft)

-       Aircraft esc.

-       No rear movement

-       APM1 (2560)

 

 

On field the test was ok. Some lack of precision(2-3 m) but it was a narrow road.

 

I need to reduce the velocity of the vehicle.

 

I will post a video.

 

I am wondering to add some solar cells.

 

Have fun….

 

MV

 

www.beedrones.com

 

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