The purpose of this project is to log sonar data of inland waters in order to increase the database of the GoFree Insight Genesis Social Map.
Craft Requirements:
1. Light Easy to Transport
2. Stable
3. Capable of speeds up to 10mph
4. Capable of running up to 10hrs non stop
5. Autonomous
6. Monitor progress remotely
7. Highly Visible (safety)
Project Progress:
Used the off-cuts of some old SurfSkis from a previous project to create a 2.9 meter trimaran design
Has a small enclosed console (removable for easy transport) to hold battery and electronics
Sonar logging is done with a Lowrance Elite7 CHIRP with a Airmar P66 transducer
Powered by a Yamaha 2hp 2-stroke outboard
Steering servo is via a vehicle wiper motor for torque using an old servo motor for potentiometer and output to a H-Bridge L298N.
Throttle is controlled by a heavy duty servo built into the motor directly above the carb.
Radio - Spektrum DX6i DSM (old)
Receiver - Spektrum AR6200 with Satellite
Up to this point the craft goes pretty well while being controlled directly with the radio as can be seen in this video -
AutoPilot Progress:
Or should I say "lack thereof" as I am now in 'unchartered territory' and the cry for "HELP!" echoes across this board for assistance.
Setup:
Pixhawk PX4
Pixhawk Power module
Switch
Buzzer
GPS/Compass
External LED/USB
I2C extension bus
433MHZ Telemetry with 2.5DB Antenna
Receiver - Spektrum AR6200 satellite
Mission Planner (Laptop)
Pixhawk Main Outputs - #3 = rudder / #4 = throttle
Progress -
Connected Pixhawk to Mission Planner
Updated firmware
Calibrated Acc, Mag, Trans etc.
Completed Wizard - all green except for Arming of Autopilot
That is where I am now stuck.
Where do I go from here?
Replies
The track is a bit wobbly and had a problem with range in the beginning so it kept going into HOLD Mode. These are two issues I need to work out. Any ideas guys?
Still better than anything I have done driving it out on the boat though.
This track is just over 13km long and was achieved in 1 hour and 3 minutes and used 1.2 litres of fuel.
Was able to make a contribution to GoFREE on this first pass
John, It would probably be best to use the main receiver plus a satellite receiver for range. You should be able to change FS_ACTION to a mode that will go into hold in manual but if you are in auto it will complete the mission.
The weaving may be the NAVL1_PERIOD. Try raising it. Or maybe the STEER2SRV P and I need adjusting.
It seems to turn right better than left for some reason.
Regards,
David R. Boulanger
David,
Yes, that did the trick with the FailSafe, thank you.
I will have to play around with the STEER2SRV P and I values, but P was definitely too low at 1.8.
Yes, it turns beautifully to starboard, but port is very erratic.
Keep you posted.
Thank you
Good!! I'm thinking about getting a Elite 4 Chirp. Seems to be able to do the Insight Genesis thing. Screen is small but I have no use for a screen. Any comment on the Elite 4?
Regards,
David R. Boulanger
Great little unit, has the same vertical resolution as the HDS9 Touch Gen3.
The Elite is now replaced by the Hook, and has a slightly brighter screen and faster processor.
Thanks John, Just ordered one. Your P is probably way to low. My I term is 1/10th of my P. You may find that the NAVL1 is a very important parameter with boats. My NAVL1 is 14 I think.
Regards,
David R. Boulanger
Got to do my first full auto test yesterday, BIG thank you to Dave Boulanger ...
I am so happy - at last!
Now all I need to do is work out how to start the mission in Mission Planner. LOL :-)
Go to Ardupilot.org. Read the Rover manual. Then read it again. After a few days repeat reading. Rover 3.0 plus Mission Planner can do a great deal. Glad your making progress.
Regards,
David R. Boulanger
I have read the Rover Control Modes a number of times, but I cannot find where to switch modes with my Spectrum DX6i.
I have been flipping all the switches and nothing happens.
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