ArduRover basic config (GPS and L298N brushed motor driver)

AntonSt · November 25, 2024, 7:09am

Both units are default and working now thank you.

Are you aware of the new underground GPS system that provides L1, L2C and L5 signals with an accuracy of approximately 2 meters presently?

AntonSt · November 26, 2024, 6:16am

Hi Yuri

The setup is identical to the setup as described in the GPS for Yaw (aka Moving Baseline) — Rover documentation document.

2024/11/26 07:58:17 : EKF3 IMU1 tilt alignment complete
2024/11/26 07:58:17 : EKF3 IMU0 tilt alignment complete
2024/11/26 07:58:15 : EKF3 IMU1 initialised
2024/11/26 07:58:15 : EKF3 IMU0 initialised
2024/11/26 07:58:14 : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (f17067)
2024/11/26 07:58:14 : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f17067)
2024/11/26 07:58:08 : EKF3 waiting for GPS config data
2024/11/26 07:58:08 : EKF3 waiting for GPS config data
2024/11/26 07:57:59 : GPS 2: detected as u-blox at 230400 baud
2024/11/26 07:57:59 : GPS 1: detected as u-blox at 230400 baud
2024/11/26 07:57:58 : EKF3 waiting for GPS config data
2024/11/26 07:57:58 : EKF3 waiting for GPS config data
2024/11/26 07:57:51 : L298N (Skid Steer) Driver Initialized

What I am trying to get my head around is that GPS_DRV_OPTIONS,1 looks like it sets the primary GPS Serial Port 3, UART 2 as Base. and the secondary GPS Serial Port 4, UART 3 as Rover.

A 3D Fix is achieved by both GPS devices, the new Rover does achieve RTK but it seems to take forever to do, hence my question as to what the Autoconfig changes are to the 2 receivers.

I do not want to change anything in the setup of the F9P as with the M8P’s.

The ODIN radios, Bluetooth and WiFi has been disabled on both devices and only the GPS receivers are active and hardwired

The wiring has also been changed to suit the arrangement where if it is properly understood that GPS 1 on Serial3 which was my original Rover now becomes the Base and what was my Base on Serial 4 becomes the new Rover

I don’t want to use NTRIP or a separate Base presently, just a straight forward Moving Baseline configuration to start off with and then work from there to try and improve the accuracy of the system

Thank you

Yuri_Rage · November 26, 2024, 6:27pm

Share a log please. That will help.

Here’s the auto config source for a u-Blox moving baseline setup:

github.com

ArduPilot/ardupilot/blob/4c72ca6ddc364a5f8af6393ae7fe84d4e3499840/libraries/AP_GPS/AP_GPS_UBLOX.cpp#L142


      
          #if GPS_MOVING_BASELINE
              delete rtcm3_parser;
          #endif
          }
          
          #if GPS_MOVING_BASELINE
          /*
            config for F9 GPS in moving baseline base role
            See ZED-F9P integration manual section 3.1.5.6.1
           */
          const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart1[] {
           { ConfigKey::CFG_UART1OUTPROT_RTCM3X, 1},
           { ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
           { ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
           { ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, RTK_MB_RTCM_RATE},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, RTK_MB_RTCM_RATE},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, RTK_MB_RTCM_RATE},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, RTK_MB_RTCM_RATE},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, RTK_MB_RTCM_RATE},
           { ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, RTK_MB_RTCM_RATE},

I’m a bit busy this week, so you’ll have to try and parse that file on your own for now. It’s pretty straightforward.

AntonSt · November 27, 2024, 7:29am

Thank you Yuri

Had a quick look at the code and also compared the two configurations and things are starting to make sense.

Should be able to take the rover outside tomorrow or Friday. Things are a bit hectic here as well.

Will send a log file soon as it is available.

As a matter of interest, the F9P does connect with the underground installation and busy looking at how to make use of it.

serkan · November 27, 2024, 1:53pm

"Hello, I have a Pixhawk Orange Cube+ and a HerePro GPS. I will not be using a remote controller. I want to use the L298N motor driver. I have two DC motors. I am designing a rover and will later upgrade the driver and motors to more powerful ones. Have you been able to perform a motor test with the L298N?

dkemxr · November 27, 2024, 1:57pm

As Anton, and many others, discovered you will need an RC system to configure and tune the Rover. Just get over this fact and obtain one.

serkan · November 27, 2024, 2:25pm

Which one should I buy? If I purchase an ESC driver, do I also need to get an RC controller?

AntonSt · November 27, 2024, 6:19pm

Hi

I bought the Flysky FS-I6X
Relatively inexpensive and it works

serkan · November 28, 2024, 8:01am

Alright, I’ve just placed the order. Could you share the parameter settings with me? Many of the parameters are not showing up on my end, even in the Full Parameter Tree.

AntonSt · November 29, 2024, 6:46am

My parameter file will not be the same as what you require, the best is to start with the Setup tab and work you way through it. Once you done open config tab and the full parameter list.

Work you way through it, some parameters has sub parameters that are not displayed by default and you have to refresh the parameters to have them displayed once you have enabled the ‘main’ parameter.

Take note of the messages that are displayed when you enable or disable.

Good way to get your head around Ardupilot

serkan · December 3, 2024, 1:15pm

Hello again, the transmitter (Flysky FS-I6X / FS-IA10B) has arrived. No matter what I tried, I couldn’t set the rcmap_throttle parameter to 3. I also couldn’t calibrate it, but I can perform the calibration in QGroundControl. However, when I reconnect or connect to Mission Planner, the calibration resets and returns to the old settings. Can you assist me with this?

Juergen-Fahlbusch · December 3, 2024, 1:27pm

From my point of view it might be better to open an own new thread than hijacking @AntonSt thread as your problems are different.
Also you have to show your complete detailed setup inclusive which SW used, which PARAMs

AntonSt · December 5, 2024, 10:28am

Good day everyone

Due to unforeseen circumstances I have not been able to take the rover outside for testing. Hopefully by the weekend and hopefully it will create a log file