Autopilot moving random Arduboat

greatsum · May 29, 2022, 7:49pm

Hello everyone,

We are building an autonomous sea vessel.

Setup

The equipment that we are using is the following:

Pixhawk 2.4.8
FMUv2 firmware
two one-directional ESCs
two underwater motors.
GPS
RC

Here is a picture of the ArduBoat

Problem Definition

Our vessel works as expected in MANUAL mode. However, after we set it to GUIDED mode and send a waypoint by clicking on the map and selecting “go there,” it does some random and weird movement around the pool. It is not acting as expected.

On top of that, when we write the same parameters into SITL and test there, it also moves randomly.

Parameters on the vessel (Mission Planner)

parameters.param (13.9 KB)

Parameters on the vessel (QGroundControl)

Note: Change the file extension from “.param” to “.params”
param_list.param (34.0 KB)

I can send the Logs if you can message me. Size exceeded to upload here.

geofrancis · May 30, 2022, 8:19am

you probably have the motors mixed up, did you reverse any of the channels on the handset to make it work? does it steer ok in acro mode?

greatsum · May 30, 2022, 8:21am

on the RC, we reversed roll channel. other than that we followed the documentation

geofrancis · May 30, 2022, 8:23am

you need to un reverse any rc channels on your handset and start again. any fixes like that need to be done in mission planner at the servo output page.

greatsum · May 30, 2022, 10:13am

I did it on mission planner>Radio Calibration>reverse channel selection box

geofrancis · May 30, 2022, 10:17am

You need to change the ardupilot outputs not the radio inputs.

rmackay9 · May 30, 2022, 11:16am

I strongly suspect that @geofrancis is correct that the output to the motors hasn’t been configured quite right. There is a motor test feature in Mission Planner that will help confirm if this is the issue.

greatsum · May 30, 2022, 11:31am

I will check that in few hours and reply back

greatsum · May 30, 2022, 1:53pm

Do you think it has anything tk do with onr directional ESCs? Does it need to be bi-directional

Yuri_Rage · May 30, 2022, 2:45pm

While a bi-directional ESC is probably preferable, I think your problem relates to reversing an input (RC channel) when you probably needed to reverse an output (servo channel), instead.

greatsum · May 30, 2022, 3:31pm

i noticed that my gps track vector is not moving at all

greatsum · May 30, 2022, 4:03pm

The previous random movement issue was about frame type set to omnix i fixed that .now the gps track is not moving

geofrancis · May 30, 2022, 4:40pm

can you drive it in acro mode?

greatsum · May 30, 2022, 4:58pm

yes, i can drive in acro mode

davidbitton · May 31, 2022, 1:52pm

Would you mind posting a pic of the propulsion system? Thanks.

waleed_malik · June 1, 2022, 9:18am

david can you help me in connection of two boats telemetry i am complete beginner i want my two boats to operate on single mission planner what should i do step by step i am two 3DR radio telemetry 433hz . now what should i do next thanks

davidbitton · June 1, 2022, 1:12pm

do you have access to an RFD900 radio? They can be flashed with firmware that will allow for two RX and one TX.

waleed_malik · June 1, 2022, 1:48pm

david i have fs i6b which i connected to my pixhawk 2.4.8 rc in port my problem is not long range . 500m is fine for me i want my twopixhawk data on one missionplanner screen . what should i do with my telemtry of two boats to connect to my ground station( mylaptop) ground 3dr radio telemetry antenna

dkemxr · June 1, 2022, 2:26pm

1st change the NetID on the Telemetry Radios to unique numbers. Connect both Ground Telemetry Radios to the laptop. In Mission Planner connect the 1st radio as usual. Then right click on the top bar and select Connection Options. Then pick the 2nd radio and baud rate and hit Connect.

This is showing a rover and a multirotor both connected.

waleed_malik · June 1, 2022, 2:54pm

dave i dont think i have this usb connecting option for airmodule your module is quite advnace is there any solution now