hi everyone
I would love to have some help with my rover, the problem is this:
on auto mode when it close to first waypoint I get error pos horiz variance from the ekf
I saw info here - EKF Failsafe — Copter documentation
if i Set FS_EKF_THRESH = 0 to disable the EKF failsafe the rover lose all direction
sats count is good , hdop good as well
the navigation in auto mode is essential, my project is to draw on the ground large scale using a servo motor attached to a ball valve and some powder
By turning off the EKF failsafe you’re essentially just “shooting the messenger”. A much better solution is to figure out which sensor is to blame for the inconsistent position or velocity that leads to the EKF failsafe.
Without a log it is hard to be sure but my guess is that the issue is the wheel encoders. Could you try disabling these and then re-test? If you’re operating outdoors then a good quality GPS will likely be enough anyway, but at least removing the wheel encoders from the setup will keep things simple in the early stages of a vehicle setup
@rmackay9 you were right, after I set * EK3_SRC1_VELXY to 3, the problem was gone
I’m debating about the best parameter for EK3_SRC1_YAW, any advice?
and while I am at it another question if I may
after reaching a waypoint the rover positions himself for advancing to the next waypoint, he stops, turn, and then proceed like here:
how can I make him go more smoothly from waypoint to waypoint without stopping?
In any case, I want to thank you, the main problem is fixed
I have learned a lot from your posts here in the community, thanks for that!
The stopping is caused by pivot turns and they can be disabled by setting WP_PIVOT_ANGLE to 0. I’ve been considering turning these off by default for the next release actually.
I think the EK3_SRC1_YAW will need to be left at compass unless you’ve got two high quality GPSs (like UBlox F9, aka Here4, etc) in which case GPS-for-yaw would be a good choice.
