Servers by jDrones

Loiter mode issues

Hello community, i’m Nicola, experimenting with a 3mt. canoe driven by Ardurover 3.5.1 on a pixracer,external gps and compass, with a 56lb trolling motor, 60a esc and 25kg servo for the rudder, it’s more or less all working, it needs some more tuning but i’m very happy with it as a prototype!
I Just have some issues with Loiter mode wich i use against wind.
When activated if the canoes exits the radius with the front facing the target, the servo always swings back and forth some times before the motor is activated, here is a video:

is that normal and is it possible to smooth, like throttle slew, the servo movement for longer servo life?

Another issue is in strong wing, my canoe’s nose always turns in the opposite direction of the wind because of its shape.
In loiter mode with a small radius is set, the canoes tries to keep the back facing the target, the strong wind, often changing slightly the direction, drifts my canoe soo much laterally to the target, that at some point it goes foward, rotates on itself 180%, and reaches the target facing it, then the wind makes the canoe rotate again in the opposite direction, and this continues in loop.
Could be possible to have a LOIT_TYPE 2 option to force the boat always facing the target with the back, as opposite of LOIT_0?

Thanks in advance for any feedback and for the great work!


Here are 2 logs and the parameters, i tried to play a bit with the STR parameters but the swinging of the rudder in loiter still happeneds. Any idea/suggestion?

Hello Nicola, i’m trying to build a similar setup like yours. You have done a real good job. Can you please share some photos of your setup? Did you cut the trolling motor cables and connect it directly on the esc?

Of course, unfortunately i don’t have a pic of the whole setup, but here is the pic of the homemade steering sytem

and this is the box with all the eletronics fixed with velcro to the canoe

The battery is behind my back and about the motor i disconnected the manual switch inside, and linked the + and - motor wires directly to the main wire with the xt60 connector, wich is linked to the eletronics box, the servo cable too.

and here is inside of the box :wink:

i had problems with the quicrun 60a esc, enclosed like that it would overheat and cut throttle after a while in a mission. No problem when loiting. The motor uses 25A at full throttle, i’ll try to put a small fan on it.

Wow! Nice! Thank you so much for sharing the pictures.

@SapoLab, Looks like a fun project. Did you resolve the steering oscillation problem? I have something similar which is preventing me making any progress - actually, the problem is not that similar as mine is much higher frequency with a more stable period. It is documented here: BuoyBots - self position holding buoys for RC sail boat racing . I’ve downloaded your log files. I see no loiter mode in the 13 Sept log, though there is a guided mode. The 10 Sept log shows a loiter period where the behaviour doesn’t look too bad - certainly better than mine.

Servers by jDrones