ArduRover 4.5.4 Boat Loiter Problems

ArduRover
1

Hello, I have Pixhawk 4 mounted to trolling motor. Motor is operated with 60kg servo and Quicrun 1060 brushed ESC. Hardware side seems to work okay in manual mode. However I want to use loiter mode to keep boat in place. I was testing loiter in very calm conditions. Every time I switched to loiter, servo started to shake (See the video). After some time motor started to reverse. Boat started to cruise around. Based on the logs it looks like boat was circling around the point where loiter mode was activated. Also it looked like every time the boat was close to the point where loiter was activated the servo started to shake again. In the end servo shook until it burned.

Loiter radius was set to 2 meters. Loiter type was 0, but I cant see why it started to reverse immediately when the boat was almost still after activating loiter.

Also found CIRC_RADIUS which was 20 meters. Does this affect in loiter mode?

So any ideas what can cause the headless cruising and servo shaking? Thanks :slight_smile:

Log and video here: https://drive.google.com/drive/folders/18EH9SaaHOYocapJ4Jlze9-fnFPiaQhqR

2

We have no free access to your google drive

1 Like
3

Loiter will do that with a configuration like yours. If you use search on the forum for “buoy” there are discussions about the minimum requirements for Loiter on a boat. 2 thrusters in skid steer config has worked.

1 Like
4

Thanks for the info. I try to fix that🙂

5

I and as I think other users still don’t have free access to the data linked above.

6

Hi, thanks for heads up again. Can you please try is it working this time :slight_smile: