Boat frame class

ArduRover ArduBoat
1

Good day,

I am having a serious problem getting my boat to go to waypoints or RTL. When I program a WP and set the boat to auto it seems like the controller does not know how to steer the boat. It turns too much, turns to the other side too much goes left turns, goes right makes circles etc. I neet to tune the behaviour but it seems like it is completely lost and dont know how to correct itself. Please advice on wich parameters to check and good settings to start at.

I am also thinking myframe type might be wrong. Currently set to 0 = undefined. Frame class is set to 2 so that should be fine.

The boat is driven by dc motor to propeller x1, servo is steering the boat / rudder.
Gps is on 17 sats. Steering from remote control is smooth without any problems.

Other settings I did but without much luck is:

ATC_STR_RAT = 120
ATC_STR_ACC_MAX = 90
ATC_STR_RAT_FF = 0.5
ATC_STR_RAT_P =0.8
ATC_STR_RAT_I = 0.2
ATC_STR_RAT_D = 0.03

Please advise.

2

My heading is facing straight inline with boat. Also compass calibration is done and in order.

3

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175173317107153466994955787382851920Γ—1440 341 KB

4

can you drive it in acro mode?

5

Hi, thanks for taking interest in my question. Yes just tried and acro does work. Throttle and rudder.

6

Here is my full parameter list if it can help

Bait_Boat_params.param (19.4 KB)

7

Meaning when you give it steering input it changes heading and stays on the new heading with steering back to neutral?
Acro Mode

In the future post the parameter file rather than pages of text. Or a link to a .bin log file. We can extract parameters from that.

8

@dkemxr should i go test acro on a lake or will I be able to do a bench test?

9

It has to be moving. If you went thru the Tuning Process instructions you come across Acro Mode immediately.

10

I just operated the boat in acro out of water as I am not at a dam anymore and all was responsive. Dont know if that indicates anything. Noted on the param file.

11

Put it in the water and drive it in Acro mode. Does it perform as stated in the above post. Steering is rate controlled in Acro and heading hold is a combination of things that all have to be right. You can’t test that on the bench.
Tuning Process Instructions