Ardurover parameters for skid steering mode waipoint radius 0

Posted by Josef Míka on June 7, 2014 at 11:31am

Hi all,

I am working on rover based on 4WD wild thumper chassis. I am using APM 2.5 (ardurover 2.45) with LEA-6H GPS and external compass HMC5883. I tested today automatic mission and i have question. If i set WP_RADIUS=0 rover dont spin on the spot but turn with radius about 1m. Exist any setting for spin on the spot? And I will be grateful for any advice regarding the PID parameters.

Thanks for all advices.

There are photos of my rover:

3691126910?profile=original

And there is GPS and compas "on the stick" due compass interference

3691126673?profile=original

Best Regards

Josef Mika

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Replies

  • Admin
    Thomas J Coyle III June 7, 2014 at 11:52am

    @Josef,

    The value of the waypoint_radius will not get you what to do with the skid steering.

    Try working with the pivot_turn_angle parameter and set it to 90 deg.

    You will find the pivot_turn_angle parameter in the Full Parameter List in the MP.

    Regards,

    TCIII ArduRover2 Developer

    • Josef Míka > Thomas J Coyle III June 14, 2014 at 11:32am

      I am sorry, but i did nit find this parameter in full parameter list. What i doingwrong ? APM firmware ver 2.45.

      Thanks for help

      Josef

    • Josef Míka > Thomas J Coyle III June 7, 2014 at 12:13pm

      Thanks a lot. Are any other specialities for skid steering ? Tomorrow i will test it. 

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