My car just run in a circle when turn toAUTO mode, can’t reach the waypoint.
This problem occurs when the compass set 180 against the car body.
But I have checked the heading is correct in mission planner GCS.
Is there something wrong?
Hello,
Try in steering mode to see if the controls are OK. It will use the same controler than in auto mode but with radio input
I have tested steering mode. The problem is same.
have you sorted out ? i have same issue … 
I have tested steering mode. The problem is same.
I have tested steering mode. The problem is same.
Can you please attach one log file (or a link to one) when the issue occurs and we will have a look.
Thanks, Grant.
I intend to have a test to get the log. But some new problem occured:
- the waypoint list usually lost.
- the log file is empty.
I have check the TF card, but iti is OK.
I will have more tests tomorrow.
I have test the firmware of 3.1.1 and 3.2.0.
The auto problem is the same
There is my parameters. Is it OK?
#NOTE: 2017/10/15 17:02:36 Frame :
AHRS_COMP_BETA,0.1
AHRS_EKF_TYPE,2
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0
AHRS_TRIM_Y,0
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ARMING_ACCTHRESH,0.75
ARMING_CHECK,0
ARMING_MIN_VOLT,0
ARMING_MIN_VOLT2,0
ARMING_REQUIRE,1
AUTO_KICKSTART,0
AUTO_TRIGGER_PIN,-1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,39.877
BATT_CAPACITY,3300
BATT_CURR_PIN,12
BATT_MONITOR,4
BATT_VOLT_MULT,12.02
BATT_VOLT_PIN,13
BATT2_AMP_OFFSET,0
BATT2_AMP_PERVOL,17
BATT2_CAPACITY,3300
BATT2_CURR_PIN,3
BATT2_MONITOR,0
BATT2_VOLT_MULT,10.1
BATT2_VOLT_PIN,2
BRAKING_PERCENT,0
BRAKING_SPEEDERR,3
BRD_IMU_TARGTEMP,60
BRD_PWM_COUNT,4
BRD_SAFETY_MASK,0
BRD_SAFETYENABLE,0
BRD_SBUS_OUT,0
BRD_SER1_RTSCTS,2
BRD_SER2_RTSCTS,2
BRD_SERIAL_NUM,0
BRD_TYPE,3
BTN_ENABLE,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPTION,1
CLI_ENABLED,0
COMPASS_AUTODEC,0
COMPASS_CAL_FIT,8
COMPASS_DEC,0
COMPASS_DEV_ID,466441
COMPASS_DEV_ID2,131874
COMPASS_DEV_ID3,0
COMPASS_DIA_X,1
COMPASS_DIA_Y,1
COMPASS_DIA_Z,1
COMPASS_DIA2_X,1
COMPASS_DIA2_Y,1
COMPASS_DIA2_Z,1
COMPASS_DIA3_X,0
COMPASS_DIA3_Y,0
COMPASS_DIA3_Z,0
COMPASS_EXTERN2,1
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFS_X,0
COMPASS_OFS_Y,0
COMPASS_OFS_Z,0
COMPASS_OFS2_X,0
COMPASS_OFS2_Y,0
COMPASS_OFS2_Z,0
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PRIMARY,1
COMPASS_USE,0
COMPASS_USE2,1
COMPASS_USE3,0
CRUISE_SPEED,1
CRUISE_THROTTLE,10
EK2_ABIAS_P_NSE,0.005
EK2_ACC_P_NSE,0.6
EK2_ALT_M_NSE,3
EK2_ALT_SOURCE,0
EK2_BCN_DELAY,50
EK2_BCN_I_GTE,500
EK2_BCN_M_NSE,1
EK2_CHECK_SCALE,100
EK2_EAS_I_GATE,400
EK2_EAS_M_NSE,1.4
EK2_ENABLE,1
EK2_FLOW_DELAY,10
EK2_FLOW_I_GATE,300
EK2_FLOW_M_NSE,0.25
EK2_GBIAS_P_NSE,0.0001
EK2_GLITCH_RAD,25
EK2_GPS_CHECK,31
EK2_GPS_DELAY,220
EK2_GPS_TYPE,1
EK2_GSCL_P_NSE,0.0005
EK2_GYRO_P_NSE,0.03
EK2_HGT_DELAY,60
EK2_HGT_I_GATE,500
EK2_IMU_MASK,3
EK2_LOG_MASK,1
EK2_MAG_CAL,2
EK2_MAG_I_GATE,300
EK2_MAG_M_NSE,0.05
EK2_MAGB_P_NSE,0.0001
EK2_MAGE_P_NSE,0.001
EK2_MAX_FLOW,2.5
EK2_NOAID_M_NSE,10
EK2_POS_I_GATE,500
EK2_POSNE_M_NSE,1
EK2_RNG_I_GATE,500
EK2_RNG_M_NSE,0.5
EK2_RNG_USE_HGT,-1
EK2_RNG_USE_SPD,2
EK2_TAU_OUTPUT,25
EK2_TERR_GRAD,0.1
EK2_VEL_I_GATE,500
EK2_VELD_M_NSE,0.7
EK2_VELNE_M_NSE,0.5
EK2_WIND_P_NSE,0.1
EK2_WIND_PSCALE,0.5
EK2_YAW_I_GATE,300
EK2_YAW_M_NSE,0.5
EK3_ENABLE,0
FORMAT_VERSION,16
FS_ACTION,2
FS_CRASH_CHECK,0
FS_GCS_ENABLE,0
FS_THR_ENABLE,1
FS_THR_VALUE,910
FS_TIMEOUT,5
GCS_PID_MASK,0
GND_ABS_PRESS,101796
GND_ALT_OFFSET,0
GND_EXT_BUS,-1
GND_PRIMARY,0
GND_TEMP,25
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_INJECT_TO,127
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,0
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
INITIAL_MODE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,1442082
INS_ACC2_ID,1114914
INS_ACC2OFFS_X,0
INS_ACC2OFFS_Y,0
INS_ACC2OFFS_Z,0
INS_ACC2SCAL_X,1
INS_ACC2SCAL_Y,1
INS_ACC2SCAL_Z,1
INS_ACC3_ID,1442826
INS_ACC3OFFS_X,0
INS_ACC3OFFS_Y,0
INS_ACC3OFFS_Z,0
INS_ACC3SCAL_X,1
INS_ACC3SCAL_Y,1
INS_ACC3SCAL_Z,1
INS_ACCEL_FILTER,10
INS_ACCOFFS_X,0
INS_ACCOFFS_Y,0
INS_ACCOFFS_Z,0
INS_ACCSCAL_X,1
INS_ACCSCAL_Y,1
INS_ACCSCAL_Z,1
INS_FAST_SAMPLE,1
INS_GYR_CAL,1
INS_GYR_ID,2359586
INS_GYR2_ID,2229282
INS_GYR2OFFS_X,0.003061925
INS_GYR2OFFS_Y,0.03620785
INS_GYR2OFFS_Z,-0.01949654
INS_GYR3_ID,2360330
INS_GYR3OFFS_X,-0.03893631
INS_GYR3OFFS_Y,-0.01566829
INS_GYR3OFFS_Z,-0.03129094
INS_GYRO_FILTER,4
INS_GYROFFS_X,0.02077356
INS_GYROFFS_Y,-0.03590023
INS_GYROFFS_Z,0.0230321
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,0
INS_POS2_X,0
INS_POS2_Y,0
INS_POS2_Z,0
INS_POS3_X,0
INS_POS3_Y,0
INS_POS3_Z,0
INS_PRODUCT_ID,0
INS_STILL_THRESH,0.1
INS_TRIM_OPTION,1
INS_USE,1
INS_USE2,1
INS_USE3,0
LEARN_CH,7
LOG_BACKEND_TYPE,1
LOG_BITMASK,65535
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_REPLAY,0
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,5
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,0
MODE_CH,8
MODE1,3
MODE2,2
MODE3,10
MODE4,10
MODE5,2
MODE6,0
NAVL1_DAMPING,0.75
NAVL1_PERIOD,8
NAVL1_XTRACK_I,0.02
NTF_BUZZ_ENABLE,1
NTF_LED_BRIGHT,3
NTF_LED_OVERRIDE,0
PIVOT_TURN_ANGLE,30
RC1_DZ,30
RC1_MAX,1900
RC1_MIN,1100
RC1_REV,-1
RC1_TRIM,1497
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC12_DZ,0
RC12_FUNCTION,0
RC12_MAX,1900
RC12_MIN,1100
RC12_REV,1
RC12_TRIM,1500
RC13_DZ,0
RC13_FUNCTION,0
RC13_MAX,1900
RC13_MIN,1100
RC13_REV,1
RC13_TRIM,1500
RC14_DZ,0
RC14_FUNCTION,0
RC14_MAX,1900
RC14_MIN,1100
RC14_REV,1
RC14_TRIM,1500
RC2_DZ,0
RC2_FUNCTION,0
RC2_MAX,1900
RC2_MIN,1100
RC2_REV,1
RC2_TRIM,1500
RC3_DZ,30
RC3_MAX,1700
RC3_MIN,1300
RC3_REV,1
RC3_TRIM,1500
RC4_DZ,0
RC4_FUNCTION,0
RC4_MAX,1900
RC4_MIN,1100
RC4_REV,1
RC4_TRIM,1500
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1900
RC5_MIN,1100
RC5_REV,1
RC5_TRIM,1500
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1900
RC6_MIN,1100
RC6_REV,1
RC6_TRIM,1500
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1900
RC7_MIN,1100
RC7_REV,1
RC7_TRIM,1500
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1900
RC8_MIN,1100
RC8_REV,1
RC8_TRIM,1500
RC9_DZ,0
RC9_FUNCTION,0
RC9_MAX,1900
RC9_MIN,1100
RC9_REV,1
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,54
RELAY_PIN2,55
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_ADDR,0
RNGFND_DEBOUNCE,2
RNGFND_FUNCTION,0
RNGFND_GNDCLEAR,10
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_PIN,-1
RNGFND_POS_X,0
RNGFND_POS_Y,0
RNGFND_POS_Z,0
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE,0
RNGFND_STOP_PIN,-1
RNGFND_TRIGGR_CM,100
RNGFND_TURN_ANGL,45
RNGFND_TURN_TIME,1
RNGFND_TYPE,0
RNGFND2_ADDR,0
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_PIN,-1
RNGFND2_POS_X,0
RNGFND2_POS_Y,0
RNGFND2_POS_Z,0
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RSSI_ANA_PIN,0
RSSI_CHAN_HIGH,2000
RSSI_CHAN_LOW,1000
RSSI_CHANNEL,0
RSSI_PIN_HIGH,5
RSSI_PIN_LOW,0
RSSI_TYPE,0
RST_SWITCH_CH,0
SCHED_DEBUG,0
SCHED_LOOP_RATE,50
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,1
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_PROTOCOL,5
SERIAL5_BAUD,57
SERIAL5_PROTOCOL,-1
SKID_STEER_IN,0
SKID_STEER_OUT,0
SPEED_TURN_DIST,2
SPEED_TURN_GAIN,50
SPEED2THR_D,0.2
SPEED2THR_I,0.2
SPEED2THR_IMAX,4000
SPEED2THR_P,0.7
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,1
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,1
SR1_EXTRA1,1
SR1_EXTRA2,1
SR1_EXTRA3,1
SR1_PARAMS,10
SR1_POSITION,1
SR1_RAW_CTRL,1
SR1_RAW_SENS,1
SR1_RC_CHAN,1
SR2_EXT_STAT,1
SR2_EXTRA1,1
SR2_EXTRA2,1
SR2_EXTRA3,1
SR2_PARAMS,10
SR2_POSITION,1
SR2_RAW_CTRL,1
SR2_RAW_SENS,1
SR2_RC_CHAN,1
SR3_EXT_STAT,1
SR3_EXTRA1,1
SR3_EXTRA2,1
SR3_EXTRA3,1
SR3_PARAMS,10
SR3_POSITION,1
SR3_RAW_CTRL,1
SR3_RAW_SENS,1
SR3_RC_CHAN,1
STAT_BOOTCNT,6
STAT_FLTTIME,296
STAT_RESET,56447860
STAT_RUNTIME,3105
STEER2SRV_D,0.005
STEER2SRV_FF,0
STEER2SRV_I,0.2
STEER2SRV_IMAX,1500
STEER2SRV_MINSPD,1
STEER2SRV_P,1.8
STEER2SRV_TCONST,0.75
SYS_NUM_RESETS,2
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_SW_TYPE,20
SYSID_THISMAV,1
TELEM_DELAY,0
THR_MAX,100
THR_MIN,0
THR_SLEWRATE,100
TURN_MAX_G,2
WP_RADIUS,2
The logging doesn’t start until you have armed the rover. Please arm the rover and try driving it and then send the log through.
Thanks, Grant.
Thank you! The rover is OK now!
- I Reverse roll channel, so it is OK.
- The problem of waypoints lost is also solved. I turnrd Channel 7 do nothing. (The RC Channel 7 is connect to Flight Mode, So when I switch the flight mode, the autopilot will learn the waypoint, so the former waypoints will lost.)
Delighted you got it working - well done.
Thanks, Grant.