These are the ones I used with the Pixhawk Model you have. They worked pretty well. Now I have the 2.1 Cube so I had to get the Here 2 GNSS. The following items I purchased are pretty good for the price so have a look:
RadioLink SE100 GPS with GPX Holder https://www.amazon.co.uk/dp/B07GNK41YR/ref=cm_sw_r_cp_api_i_dIc4CbR0AS8T3
powerday 3DR Radio Wireless Telemetry Kit 433Mhz Module for APM2.6 APM2.7 Pixhawk PX4 https://www.amazon.co.uk/dp/B00Q7US5NG/ref=cm_sw_r_cp_api_i_mJc4CbWKBWEQ9
You could use your Radiolink GPS modules with the Cube if you want. Just a matter of connectors.
I managed to cut the connectors and wire them up with the old gps modules. It pretty much works out the same tbh in terms of results. Plus I took the rover to a car park with only the Here 2 hooked up and the results was shockingly accurate. It was like I had RTK accuracy the rover went on the lines 100% centred. I wasn’t expecting it
Has anyone tried tweaking EK2_YAW_M_NSE like @rmackay9 mentioned in another post? Wondering if this would have any benefit to a more accurate auto mission.
Yes, I have noticed that will change upon conditions and locations significantly. I saved a mission around the neighborhood using Save Waypoint driving manually and that day it worked pretty well. I ran it for a few loops. A week later that same mission ran into my house, chewed up some mulch for a bit and then disarmed from the crash check…
I’m guessing that was from the satellite positions changing from one week to another? I did read that people have run tests on football field lines. Works perfect one day, the next day it shifts position on the line but still maintains the same course but shifted due to satellite position changes.
What would you say is better with your experience, to rely on compass or gyro & gps for positioning?
All 3. I’ve run the same mission on different occasions and it does change by a meter or two. KP index, clouds, Sats, nothing is the same from day to day.
Is the default setting for EK2_YAW_M_NSE used for a balance of all 3 or does this need to be changed to get a better setting for all 3 to be used?
That’s a question I can’t answer. I think the EKF defaults have been well thought out. I have not had any problems with them as they are set.
I don’t think this parameter will make any significant difference unless there is a reason for the compass to perform poorly. And even then it will make no difference regarding actual positional accuracy.
No free lunch Mus. You want better positional accuracy, RTK.
I remember @TCIII mentioning a parameter that changed the speed of a pivot turn & made it more aggressive. From what I understood it didn’t change the nature of the rovers movement in terms of speed moving forward but just the aggressiveness of the turns for skid steering. Does anyone here know what parameter that may be? Many thanks
Pivot turn rate most likely
I don’t think it was any of the following parameter. It was something different from what I can remember
Here are some comments Randy made awhile ago that may be useful. Particularly the TURN_RATE_MAX parameter. I set mine by driving in a circle on pavement until it flipped and then reviewed the log for the G value just before flipping. How did you do it with that vehicle? Maybe you can use this parameter (increase it) for a more aggressive turn with skid steer. Don’t really know, give it a try.
ACRO_TURN_RATE is not used in Auto mode, only in ACRO mode. I have a patch that adds a parameter to set the vehicle’s maximum turn rate but it needs more testing so I did not include it in Rover-3.2.
Yes, TURN_MAX_G is used during pivot turns in Steering, Auto, RTL, SmartRTL and Guided modes. Reducing this should reduce the aggressiveness of pivot turns.
I’ve tried using Max G and it doesn’t make any difference regarding the aggressiveness of the turns for skid steering. Not sure what parameter it could be which makes the skid steering turn more aggressively while manoeuvring in 360*
Oh I see this is for manual mode I guess if you want 360 degree spin? Otherwise I would think PIVOT_TURN_RATE. do you have a log?
The rover turns just fine but it needs more aggressiveness when it turns in a 360 degree spin. Right now it turns all the way round like it should but it struggles because the turn aggressiveness is so low.
I remember @TCIII mentioning this specific subject and mentioning a parameter in a post somewhere about this very thing but I have searched everywhere and can’t find where he mentioned this.
If TCIII commented about it, it is very old code . The parameter might not even exist anymore.
Maybe it’s as fast as that turtle will turn. If you don’t want to post a log then review the motor outputs and see if they are at max or are being limited.
I don’t mind loading a log so I will get around to doing that tomorrow. In manual mode it turns like a beast. In auto mode it’s sluggish. The power is there in manual mode, just need to make it as good in auto
