Servers by jDrones

Placement of gps from centre of rotation


(Esa Attia) #1


I’m running version 3.2 rc2 (with pivot turn enabled in steering/auto mode).

Currently I have a skid steer system with an emlid rtk gps + navio2. THe emlid rtk antenna is positioned about 0.67 m behind the centre of rotation of the rover. I have put in an offset in the GPS_POS2_X variable which is = -0.67 .

The navio also has a gps antenna which is position at the centre of rotation.

I think due to the distance of the emlid antenna from the centre of rotation the rover does swing wildly in order to hit a target waypoint. The offset value doesn’t seem to help.

any tips ?

(Amilcar Lucas) #2

I do not think that the swing has to do with the GPS. To test that just disable the RTK and use only the Navio GPS.

(Andrés Ábrego) #3

any progress? kind of having the same issue here!

(Esa Attia) #4

No , i just repositioned my GPS for now so I can tune the rover .

eliminate one variable .

Will revisit once the rover is fully tuned