Display Distance wheels encoder

Yuri_Rage · December 23, 2021, 9:23pm

Try right clicking on the map in Mission Planner and using the “set home here” feature. It doesn’t really matter where you set the home position if you aren’t using GPS, but having it defined may help display the values you’re after.

Webillo · December 24, 2021, 12:18am

See this video:

an accelerated capture of an above mentioned balance bot long tlog.

DistToHome (DH) and DistTraveled (DT) show reasonable values (BTW, I dont know if they are got from encoders).

Are you sure you have everything OK?

scanline_solutions · December 24, 2021, 10:35am

ok for me, but i have to set EKF origin in MP not home (right click on map and “Set here EKF origin”) it s the best thing because when i desarm vehicule Zero is setting distance ground.

scanline_solutions · December 24, 2021, 10:37am

however, can i set EKF or Home origin witout MP ?? with QGC for exemple, cause can t have my PC always

ppoirier · December 24, 2021, 1:22pm

I am getting back with scripting… again
I see there is an example already available:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/ahrs-set-origin.lua

-- example script for using "set_origin()"" and "initialised()"
-- sets the ekf origin if not already set


function update ()

    if not ahrs:initialised() then
        return update, 5000
    end
    
    origin = assert(not ahrs:get_origin(),"Refused to set EKF origin - already set")
    location = Location() location:lat(-353632640) location:lng(1491652352) location:alt(58409)
    
    if ahrs:set_origin(location) then
        gcs:send_text(0, string.format("Origin Set - Lat:%.7f Long:%.7f Alt:%.1f", location:lat()/10000000, location:lng()/10000000, location:alt()/100))
    else
        gcs:send_text(0, "Refused to set EKF origin")
    end

    return

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scanline_solutions · December 27, 2021, 3:28pm

Yes Ok thanks… i’ ll try this tomorrow and tell you what happened…

scanline_solutions · December 28, 2021, 11:42am

hello, test it but not working…it seems an error ins script ?
message from MP :SyntaxError: Non-ASCII character ‘\xe0’ in file D:\SCANLINE\SCANLINE\sauvegarde trx\ahrs_set_origin.lua on line 1, but no encoding declared; see PEP 263 -- Defining Python Source Code Encodings | Python.org for details

ppoirier · December 28, 2021, 12:02pm

Are you sure you have read the wiki and loaded script on FC as explained ?
https://ardupilot.org/copter/docs/common-lua-scripts.html

scanline_solutions · December 28, 2021, 6:13pm

yes i do exactly what is in wiki.
enable scr 1
script LUA in script APM
SRTL_point 0
Note find terrain_enable`

ppoirier · December 28, 2021, 6:15pm

I dont have a FC handy, I might try later this week… maybe @Yuri_Rage could give it a try?

scanline_solutions · December 28, 2021, 6:26pm

ok thank you, i try again but error

scanline_solutions · December 28, 2021, 6:28pm

ok thank you for your help

Yuri_Rage · December 28, 2021, 6:29pm

Do not try to run the script from the Mission Planner Script tab. That is for Python scripts on the GCS computer. Again, follow the wiki linked above.

scanline_solutions · December 28, 2021, 6:31pm

ok sorry, i try again.

scanline_solutions · December 28, 2021, 8:16pm

OK done. scripts are in FC.
how can i see if it’s working ? open MP ? QGC ?

Yuri_Rage · December 28, 2021, 8:19pm

See if you receive a GCS message in Mission Planner stating that the origin is set.

scanline_solutions · December 29, 2021, 9:30am

here ?

scanline_solutions · December 29, 2021, 9:35am

nothing in HUD yet

scanline_solutions · December 29, 2021, 10:58am

when i set EKF origin manually, the distance displayed in HUD is divided by 2 compared to the distance displayed distance in MavlinkInspector…?? an idea ? i test up to 10 turns off wheel and exactly divided by 2 for each turn

Yuri_Rage · December 29, 2021, 5:11pm

First, you say that you are running a Cube Orange, yet your GCS messages indicate a Cube Purple. They are very different hardware, so be sure you have installed the correct firmware for your autopilot.

The script referenced above is only valid for Rover 4.2-dev. ahrs:initialised() and ahrs:set_origin() are not exposed in the 4.1 branch, so you cannot use the script to set the origin. You will need to set the origin manually unless you want to update your firmware to an unstable development branch (not recommended - 4.2 is changing rapidly right now, and there are some very strange behaviors for Rover that may further complicate your problems).