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?

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.