I am working on a two-wheeled amphibious rover with an internal stable-balance pendulum (normally down not up as in Bots), for specific water missions I would benefit from activating Loiter Mode. The Rover is programmed to operate in skid steering with FRAME_CLASS = 1 (Rover) and, for the moment, I would like to avoid switching to FRAME_CLASS = 2 (Boat). So two questions:
Is it possible in some way to enable Loiter mode in with FRAME_CLASS = 1 (i tried but received Mode change fail on Mission Planner)?
Does the behavior of the Rover change much from FRAME_CLASS = 1 to 2?
Loiter mode should work in both boats and land based rovers so I suspect the failure to enter Loiter mode was because the EKF did not have a good position estimate yet. I suspect it would also not have be possible to put the vehicle in Auto mode (for the same reason).
Please ensure the ARMING_CHECK = 1 to show any arming failures and then once armed, try changing the vehicle to Loiter mode again and provide a log if possible and we can look into it further
As always you are right! I have been testing the Mode Loiter in a Test Bench in my lab without a stable GPS point… now that I have confirmation of the feasibility of the Mode Loiter, I will do some outdoor testing as soon as I can, My Rover is quite bulky (180kg by 120 cm tall), so most of the experimentation I do indoors.
Thank you very much for your help and quick response.