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?

Views: 7618

Replies to This Discussion

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

Hi David,

I loaded your settings you posted a week ago regarding tracking of a boat, but seem to have rune into a problem and are not sure if it is related or not.

Problem:

- can't select Mode (Manual / Auto) from radio

Diagnosis so far:

- Radio Calibration - done

- Flight Mode 1/man 2/man 3/auto 4/auto 5 auto

Any help will be much appreciated, thank you.

I have also noticed that the value does change when doing calibration, but when I go to Flight Modes it doesn't move (green highlite) 

It is as if the flight mode channel 5 selector has been turned 'off'

John,

John Easton said:

I have also noticed that the value does change when doing calibration, but when I go to Flight Modes it doesn't move (green highlite) 

What is MODE_CH set to?

Regards,

David R. Boulanger

Spot on as always David, it had changed from 5 to 3, thank you very much

Sir! Have you finished this project? I think this is Great!

Sir! Have you finished this project? I think this is Great!



dang thuy said:

Sir! Have you finished this project? I think this is Great!

I am still busy with it as we have upgraded to PixHawk2.1 Cube + Here

https://discuss.ardupilot.org/t/john-eastons-boat-navigation/27373/20

HI John, great project.

Your boat might be veering to starboard because of pontoon or hull alignment.

Have you tried higher STEER2SVR values yet? It seems that the weaving is an over correction. I had the same with my skid steer Rover. I'm running a older APM2 board in the rover but I'll check and see how I resolved the weave.

I see you are mapping Inanda Dam. Is this for a specific project?



John Easton said:

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

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