Rover 3 weeks into failing to get the rover to follow track

ArduRover ArduBoat
61

These are the paramters they say to change.

Go to CONFIG –>Full Parameter List .
Given that the firmware versions might differ from yours, there is a list of all parameters that have been modified compared to the default configuration below:

COMPASS_ENABLE,0
COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
EK3_MAG_CAL,5
EK3_SRC1_YAW,2
GPS_AUTO_CONFIG,0
GPS_AUTO_SWITCH,0
GPS_POS1_X,-1.25 *This value must contain the distance in meters between antennas. Change sign if heading has a 180deg offset (or swap SMA connectors in simpleRTK2B+heading).
GPS_PRIMARY,1
GPS_RATE_MS, 100
GPS_RATE_MS2, 100
GPS_TYPE,0
GPS_TYPE2,2
SERIAL1_BAUD,460
SERIAL1_OPTIONS,0
SERIAL1_PROTOCOL,5

Press Write Params to save

Pixhawk 6C M10 compass
RTK boards ardusimple2b working fine

62

you never mentioned anything about you trying to get moving baseline working.

63

not using a moving base
just base and rover

64

So you have a moving baseline capable configuration and are using 3 compasses? That makes no sense.

Also, set this (regardless of what ArduSimple tells you - the faster 10 Hz rate is incompatible with good data flow to the autopilot):
GPS_RATE_MS,200
GPS_RATE_MS2,200

Beyond that, I’m leaving you to the capable hands of the ArduSimple support team because I have repeatedly recommended that folks not use the SimpleRTK2B+Heading hardware with ArduPilot due to its incredibly finicky configuration. I have used it with success, and I have tried very hard to support it in the past, but it takes hours of my time that I do not have to troubleshoot user issues with it.

I love ArduSimple, and I use a pair of SimpleRTK2B (full sized) boards on many of my projects. The +Heading variant is a stubborn little dude, though.

65

can you show what compass modules are detected on the compass page?

66

What hardware would you recommend?

67

Screenshot 2024-09-01 172302
Screenshot 2024-09-01 1723021398Γ—1038 28.7 KB

68

you only want to be using compass 1.

69

Yes i only check 1 box i just reloaded thats why you see 3

70

The SimpleRTK2B+Heading kit contains two GNSS modules that are sandwiched together. The way they communicate together makes it tough to integrate with ArduPilot without custom settings loaded via the incredibly frustrating u-Center software (that you are struggling with).

If your budget allows, I recommend a second SimpleRTK2B budget board. Remove the daughterboard from your existing one.

Use the two larger boards in an auto-configured moving baseline configuration and disable ALL compasses.

You’ve already invested in very high quality RTK capable GNSS hardware. Take full advantage.

71

Thanks I don’t have a heading kit just two boards. One Base and one is rover.
I have tried with Pixhawk 1 pixhawk 4 and pixhawk 6c No joy

72

Take a picture of the hardware you’re using. I think that will help set us on a path to success.

We are still miscommunicating a bit - there was mention of the +Heading kit in your last post.

73

IMG_1525
IMG_1525480Γ—640 140 KB

74

Got it. What you have:

Holybro Pixhawk 6C
Holybro DroneCAN RM3100
Holybro M10 GNSS module (that contains an external compass and u-Blox M10 GPS)
ArduSimple SimpleRTK2B
XBee radio for RTCM3 from a fixed base

What I recommend:
Disable the internal compass no matter what.
Discontinue use of the M10 module.
Source a second ArduSimple SimpleRTK2B for use in a moving baseline config.
Optionally discontinue use of the RM3100.

Alternately:
Discontinue use of the M10 - it’s only adding complexity and not likely adding value, especially the way you’ve been struggling.
Calibrate the RM3100 properly.

What is missing:
Do you have a way to use a GCS computer (ideally, near your fixed base) while this system is in operation? If so, we can recommend some cleaner methods of configuring the SimpleRTK2B system (whether single or dual).

75

Not sure what you mean. GCS computer?

76

I am not using the RM3100 it was causing issues but when I am up and running I hope to return to it I updated the firmware for it this morning, bad mistake!

77

I mean a laptop or desktop running Mission Planner. It’s best practice to use one while an ArduPilot vehicle is in operation.

78

Yes I have that.
will. I get the same accuracy with the moving base with the extra card?

79

Yes.

How are you communicating between the autopilot and GCS during normal operation?

80

usb or radio tx rx when doing trial