ArduBoat: Any way to have it hold position against current/wind?

Posted by AntimatterCrusader on September 24, 2015 at 5:40pm

Hello! I am rebuilding an old APMBoat from a few years ago, and at the time was unable to find a way to get the boat to hold position. When it reached the final waypoint, it would just stop and float with the current/wind. The only thing I was able to do is have it change speed and repeat a pattern with the DO_JUMP command very slowly. 

But that wastes power - is there a way to get it to return to a location if it drifts a set distance away? 

I was thinking I would use a geofence, but it looks like that capability is not implemented iwth APMRover. 

Any workarounds, suggestions? 

Thanks!

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Replies

    • David Boulanger > Grant Morphett November 30, 2015 at 1:11pm

      Grant,

      First of all, all of  you developers are doing a world of good.  Active loiter for boats will be huge and what ever number beta release you want to call it is fine with me.  One last question for you and then I promise to leave you alone.  Are Rally Points possible in the rover code?  In the Rover manual they are talked about but it sounds like it may be just Plane and Copter.  I have not tested to see if they work and just thought I would ask first.  Again great job.

      Regards,

      David R. Boulanger

    • Developer
      Grant Morphett > David Boulanger November 30, 2015 at 2:28pm

      Harass me as much as you like - that's what I'm here for :-)

      Rally points aren't in Rover yet.  I'm interested to know how you would like them to function in Rover?  RTL to the nearest rally point?

      Thanks, Grant.

    • David Boulanger > Grant Morphett November 30, 2015 at 2:54pm

      Grant,

      I'm thinking rovers and boats using the same code could benefit from a passive or active Loiter to the rally point.  Or a passive and active RTL.  The problem with boats obviously is you want them to failsafe to somewhere they can get to and be there by the time you can get out to them.  The rover is just going to sit there and wait for help to arrive.  Sound like a good idea?

      Regards,

      David R. Boulanger

    • Developer
      Grant Morphett > David Boulanger December 1, 2015 at 9:15pm

      So you would be driving/sailing along, go into RTL and the vehicle would go to the nearest Rally point?  This is what Plane can be configured to do now - is it what your saying?

      Thanks, Grant.

    • jean-luc > David Boulanger December 1, 2015 at 12:13am

      Hi,

      What do you think also of a possibility to RTL to home position by the same previous way?

      On sea you can have many obstacles (buoy, boat, jetty and so) preventing a direct RTL to home position.

      Regarding the rally point, RTL to the nearest, seem the best and secure idea.

      Regards,

    • Kevin Klemens > Grant Morphett November 29, 2015 at 8:18pm

      Like!

      Thanks Grant! I know I'll use it too for my USV. Time to get some real work done out on the water.

    • AntimatterCrusader > David Boulanger November 28, 2015 at 8:18pm

      I second this - so far as far as I know this has not been implemented. But I am ready to help in any way I can! My boat is available for testing anytime. 

    • Darius Jack > Grant Morphett September 29, 2015 at 12:47pm

      Thanks Grant,

      open source doesn't exactly mean, anything can be easily modified by third parties juniors like us.

      Let me know your modifications to original Ardu code via API scripting.

      Either Linux or Android are open source but it doesn't mean we can modify anything

      since Ardu software looks to be highly sophisticated, professional software product, developed for years.

      Just tell me what can be modifed or new feature added via API scripting just within few hours.

      darius

    • AntimatterCrusader > Grant Morphett September 29, 2015 at 9:10am

      Sweet! I'll be happy to test it on my boat. This boat is also equipped with telemetry and video over cellular so you'd be welcome to test it as well. I'll PM you the connection details. 

      That being said, it'll be a couple more days before I get the motor/drive system working and get it in the water. 

  • bigkahuna September 25, 2015 at 9:24am

    Sounds like what you want is a dynamic positioning system ( https://en.wikipedia.org/wiki/Dynamic_positioning ).  I've been thinking about designing one my self.  There are a lot of factors to consider, one being how you are going to thrust the vehicle to the desired location.  That won't be easy if all you have is a single prop / thruster.  Much better to have three, and ideally 4 thrusters to accomplish this.

    Dynamic positioning
    Dynamic positioning (DP) is a computer-controlled system to automatically maintain a vessel's position and heading by using its own propellers and th…
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