A few additions from my own experience this weekend, along with some future project plans as discussed throughout:
Test and Tune Sessions
Test and tune sessions were very successful! @ktrussell’s machine is navigating a bit better, and I think we all learned a bit about tuning as that process unfolded. I think we all agree that mechanical linkage to a fluid coupling can create some struggles when trying to tune a controller that expects a nice, linear response.
@SJohnson’s machine is a testament to my previously stated observations that the PSC controller works VERY well so long as the underlying steering and speed tuning is well done - that upgrade from NAVL1 was the easiest I’ve seen yet! The corollary is that poor underlying tuning and/or sloppy linkage/non-linear response really complicates navigation tuning, and the PSC controller is particularly sensitive in that regard.
Lua-based Crash Detection and Engine Stall Mitigation
@Swebre2023 has been using a “crash detection” script for the past couple of years that senses when the vehicle comes to an unintended stop during navigation and then switches to HOLD mode and shuts the machine down until manual/physical intervention is made. We improved that quite a bit this weekend, in concert with a new script that senses RPM-bog (as in mowing tall grass/weeds) and slows travel speed until RPM recovers. I have some ideas on how to combine those features with some existing scripts for an all-inclusive mower failsafe script.
Lua-based RTK Fix Assurance
I think all of us are now running rover-MinFixType.lua to avoid continuing an AUTO mission without RTK Fixed status. Highly recommend it. I may incorporate this into the aforementioned failsafe script in the future.
Obstacle Detect/Avoid Discussion
All of us present have struggled with this one! Affordable LIDARs seem to be useless in bright sunlight. Alternatives certainly exist (mmWave radar, for example), but none of us have landed on a system we can reliably use. @Swebre2023 suggested hacking some automotive parking (ultrasonic) sensors for use with ArduPilot, and I’ve already ordered some to try. At a minimum, we agreed that sense and stop is the low bar to clear in the immediate future. Native simple avoidance already provides enough functionality to get there, we just need a robust hardware solution. Later, we can explore active avoidance via BendyRuler and/or custom/scripted behavior.
Onboard Ethernet Demo
We used my CUAV V6X and the NET* parameters to create a MAVLink connection to Mission Planner over LAN (UDP). It worked perfectly, and transfer speeds (specifically, mission upload/download) were impressive!
A couple of us will be taking this idea forward using HaLow point-to-point hardware as shown by @ronzika. @Swebre2023 already uses some higher gain cellular antennas (like these) for his SiK radio telemetry system that may prove useful for HaLow hardware.
Maybe onboard Ethernet could be used for a rather direct NTRIP connection, too!
DataGNSS HED-10L Demo
@datagnss is a bit new to the ArduPilot scene and offers some quite inexpensive RTK-capable GNSS hardware. I have a dual antenna evaluation unit that is not yet supported in ArduPilot firmware, but observation of performance via USB connection to their own software shows promise!
Many thanks to all who traveled to attend, and of course, huge gratitude for @Swebre2023’s unmatched hospitality!
Several major airlines fly into Lafayette and hotels abound. Good luck!