Comments

• Admin

  Thomas J Coyle III May 13, 2013 at 2:15pm

  @MVeloso,

  Yes, that is correct. However, CRUISE_SPEED is in meters/sec. Also, CRUISE_THROTTLE, in percent, sets the base throttle percentage, which is an estimate, to reach the mission cruise speed (CRUISE_SPEED). If you want fast vehicle performance it is best to keep SPEED_TURN_DIST around 2 meters and SPEED_TURN_GAIN around 50% or greater. My rover can go through the curves at 5 m/s so I have the SPEED_TURN_GAIN set at 75 - 100% with a CRUISE_SPEED of 5 m/sec.

  Regards,

  TCIII
• 

  MVeloso May 13, 2013 at 1:08pm

  Thank you Thomas.

  You mean SPEED_TURN_DIST and SPEED_TURN_GAIN .

   SPEED_TURN_DIST is 3 m  and the SPEED_TURN_GAIN 35%

  And I reduced CRUISE_SPEED to 55 %.

   

   

  Regards.

   

  MV
• Admin

  Thomas J Coyle III May 13, 2013 at 11:27am

  @MVelsos,

  There are two ArdRover2 parameters that affect the velocity of a turn. The first one is the velocity through the turn, the default being 50% of the cruise speed, and the second, which defaults to 2 m, sets the distance from the turn that the velocity starts to be reduce.

  Nice video by the way.

  Regards,

  TCIII
• 

  MVeloso May 13, 2013 at 8:51am

  Testing ArduRover v 2.41 AR2

  My Rover:

  
  1/10 buggy chassis LRP S10
  Motor: S2838-2800 Brushless Inrunner (2800kv) from Hobby King.
  Esc : 40Amp for aircraft.

  
  APM 1 with HMC5883L - Triple Axis Magnetometer and 3DR GPS uBlox LEA-6
  Firmware : ArduRover v 2.41 AR2.

  I began the tests with the old GPS MediaTek but soon realized that I had to change to the new model. The precision is much better with the Ubox LEA-6.
  This was the first conclusion.

  
  I noticed a difference with the saved WPoints on the ground and the points on the Mission Planner. There is a difference approximately up to 2,5 meters.

  
  For an aircraft it is nothing but for a ground vehicle has some relevance.
  So, taking into account we are working with civilian stuff I guess we can not improved the precision programming via MP.

  
  So to increase the precision I introduced the difference( kind of drift) between the point where the Rover turns and the point recorded on MP.

  
  I noticed that the speed of the vehicle is decreasing loop(turn) after loop.
  So that is my short report.

  
  And the video:

  https://www.youtube.com/watch?v=5lSX4837gPg&feature=youtu.be

  Regards.

  MV
• Admin

  Thomas J Coyle III May 12, 2013 at 8:08am

  @Lake,

  In some cases the steering output of the APM in the auto mode needs to be opposite that of the manual pass through mode which is adjusted at the transmitter.

  You can reverse the auto mode steering direction using the "reverse" box in the radio calibration page. Your symptoms sound like you might need to reverse the auto mode steering.

  Regards,

  TCIII
• Lake McGuire May 11, 2013 at 7:59pm

  Alright, so a few issues still and I've narrowed it down:

  1. For some reason, when I enable Auto, it heads in some random direction.  Not even close to a waypoint heading... can't quite figure that one out...
  2. I put a meter on the Sabertooth 2 x12 and noticed that the when I put it in straight reverse, the meter only read 7.5amps on the right side as compared to 15amps on the left. I then put it in forward and it was 15amps both sides... I know you said there was a auto calibration on the Sabertooth, and I have that selected... still doesn't seem to make a difference... 
• Admin

  Thomas J Coyle III May 11, 2013 at 4:48pm

  @Lake,

  As for item #1, I suggest that you hook the receiver directly up to the Sabertooth and see if you have the same issue with the speed. If you do, then it is not the APM causing the problem.

  Make sure that your transmitter has symmetrical output on the elevator channel as well as the aileron channel. Have you checked the tranmitter calibration in both the CLI and the MP transmitter calibration page?

  Regards,

  TCIII 
• Lake McGuire May 11, 2013 at 4:36pm

  I GOT IT!  Somehow, the Mode Channel in the Advanced Parameters list was looking for channel 8 versus Channel 5.  I have no idea how that happened, but I didn't change it.  Weird...

   

  Still no luck with the right side being slow.  Is it possible that wiring is loose?  Doesn't seem like that would effect performance as I would think it's pretty binary.  Thoughts?
• Lake McGuire May 11, 2013 at 4:29pm

  @TC,

  1. Still no luck with having it kick into Auto mode.  Verified again that the different modes are selectable and that the lowest one is set to auto.  Have waypoints set up and a GPS signal.  Motors do nothing when in that mode.  I can move manually though....Any more thoughts?

   

  1. Ailerons only go from 1109 to 1911.  I'll look at the sabertooth instructions again...
• Lake McGuire May 11, 2013 at 3:45pm

  Solved #3... just rebooted and reset...  Still need help on 1 & 2...