Hi guys,
When I test Rover rtl_speed in simulation of MP. I found the rover always use WP_speed even I set rtl_speed. I hope the rover can run with a slow speed by rtl_speed. Can you tell me what problem is in my test. Below is my log and parameters in test.
stil.param (22.1 KB)
2024-05-03 14-20-37.tlog (346.7 KB)
Thank you,
Jack
without hijacking Jacks thread - but in similar space and totally Rover SITL Speed
SITL rover wont go faster than 20m/s - WP_SPEED Ardurover 4.5
SITL skid-steer rover maxes out at 9m/s
SITL boat 9m/s
Only an issue as we have a very fast boat to test…
Try setting it to a whole number. Looks like anything behind the comma is ignored.
I try 1 m/s in RTL mode. It worked. Thank you so much.
Awesome! Might be worth filing an issue on Github, or at least a PR to add to the description.
FYI there’s a PR for a fix now, so it should work with the latest dev version once it has been merged: Rover: Allow fractional RTL_SPEEDs by peterbarker · Pull Request #27002 · ArduPilot/ardupilot · GitHub
Thanks for finding and flagging this!
That’s great.
I have another problem that my rover vehicle always runs with 1.5m/s speed although I set wp_speed with 1.0m/s or less. I found the servo output is almost with the max(1000). When I run vehicle with manual to 1m/s speed, the servo output is about 1360. So, how should I do to make it work with the setting speed to run.
AUTO
Is this SITL or an actual rover in this case? SITL works with WP_SPEED <1 for me. If it’s real life please post a flight (drive?) log.
It’s an actual rover. It always runs with the speed of 1.5 m/s in auto, rtl and guided mode even thought I set them with 1 or 0.6 m/s.
The link is my log.
https://drive.google.com/file/d/1wEmnYCweRk5kuX5veBtdIo-0yCYyHxQX/view?usp=drive_link
You need to make it publicly accessible 
Sorry, I set it with public. Can you see it?
Yes Sir.
Can you send a screenshot of your flight plan setup? Like so:
Or even better, save it as file, open it with a text editor and paste the contents here.
Sure, It’s my plan.
QGC WPL 110
0 1 0 16 0 0 0 0 49.2254461 -122.6665917 108.480000 1
1 0 3 179 0.00000000 0.00000000 0.00000000 0.00000000 49.22544610 -122.66659170 100.000000 1
2 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22548260 -122.66656530 100.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22565560 -122.66641970 100.000000 1
4 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22566170 -122.66643320 100.000000 1
5 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22535430 -122.66668700 100.000000 1
6 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22535820 -122.66669900 100.000000 1
7 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589060 -122.66626260 100.000000 1
8 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589110 -122.66627780 100.000000 1
9 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22535760 -122.66671310 100.000000 1
10 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22536040 -122.66672380 100.000000 1
11 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589160 -122.66629290 100.000000 1
12 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589200 -122.66630810 100.000000 1
13 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22536350 -122.66673620 100.000000 1
14 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22536570 -122.66675030 100.000000 1
15 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589250 -122.66632330 100.000000 1
16 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589300 -122.66633850 100.000000 1
17 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22527330 -122.66684720 100.000000 1
18 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22527720 -122.66685830 100.000000 1
19 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589350 -122.66635370 100.000000 1
20 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 49.22589390 -122.66636880 100.000000 1
Ok, stupid question, where do you set your desired speed? Your WP_SPEED is 1.5, and I don’t see a DO_CHANGE_SPEED in your screenshot or a 178 in your waypoints file.
Sorry, I just set speed with wp_seed and rtl_speed. At that time my wp_speed is 1.5, after that I set to 1, but no work. In the log the RTL_speed should be 0.6, and I also set to 1 m/s, but the rover ran with 1.5 yet.
Two different issues here:
RTL_SPEED is still affected by the bug you’ve found in the pre-built versions. Unless you built the firmware yourself and re-flashed your FC with it, it will at this time still only accept integers (i.e. numbers without decimal places).WP_SPEED should work. Can you do another test with WP_SPEED set to 1, or even something really low like 0.3 and post the log?Ok, I can do a new test with speed of 1 and 0.5 m/s tomorrow , and send the new log.
Thank you so much.
I did 2 tests.
First I set the wp_speed with 1m/s, but the rover ran with 1.5 m/s.
Second, I set the speed with 0.3, this time the rover tried to slow down, but it swayed from side to side quickly. It couldn’t run normally. Then I set the speed to 0.5 m/s, it ran up to 1.5 m/s. But it can run slowly with 0.5 m/s under Manual mode like the end of the second log. The link is my two logs with both speeds.
Thanks
The good news is that the FC receives the correct commands. The speed is set to 0.3m/s / 0.5m/s:
But it struggles with maintaining it. Now the first thing I would do is updating your firmware. You’re currently running 4.1.1, which is very outdated (2021), and a lot of things have changed. You should be able to backup your parameters and restore them, but maybe a fresh configuration and tune would be a better idea.
What hardware are you using? Especially flight controller and ESCs.
It’s Cubeblack. Before I have tested with new official firmware(4.5.1), it ran with 1.5 m/s when I set wp_speed 1 m/s. I’m not sure if it can run at 0.3 m/s with the new firmware.
Thanks
