Rover suddenly stops moving SITL

ArduRover Rover 4.1
1

Hi all,

I am using Mission Planner 1.3.76 build 1.3.8029.15962 ArduRover V4.1.4 SITL.

I have a geofence written to the board, and I am trying to move from one place to another by using built-in Dijkstra’s algorithm. But my boat suddenly stops when fences are enabled. even if I don’t move close to the fences, after a while it stops working. but when fences are disabled, I didn’t notice such an issue yet.

Issue

Rover stops running for a while and the only way to move it disarming and arming again.

Experimental setup

set OA_TYPE = 2 (Djikstra’s)

set FENCE_ACTION = 0

set FENCE_ENABLE = 1

set FENCE_MARIGIN = 2 meters

set AVOID_ENABLE = 3

set FRAME_TYPE = 2

Initial Finding

Current drops and oscillates between 0-1 A.

Screenshots

image
image1024×542 69.6 KB

Arming success

image
image1038×553 72.2 KB

starts operation success, current fine

image
image1022×542 61.7 KB

stops operating, current drops

image
image1019×540 60.9 KB

setting another guided waypoint thinking that boat got stuck on the fence, nothing happens.

image
image1023×537 60.6 KB

disarmed and armed, operates.

Messages tab

2/9/2022 8:37:30 AM : Throttle armed
2/9/2022 8:37:29 AM : Throttle disarmed
2/9/2022 8:37:04 AM : Throttle armed
2/9/2022 8:36:50 AM : AHRS: EKF3 active
2/9/2022 8:36:50 AM : EKF3 IMU1 is using GPS
2/9/2022 8:36:50 AM : EKF3 IMU0 is using GPS
2/9/2022 8:36:49 AM : DESKTOP-V4xxxxx
2/9/2022 8:36:49 AM : ArduRover V4.1.4 (ceb1e903)
2/9/2022 8:36:49 AM : DESKTOP-V4xxxxx
2/9/2022 8:36:49 AM : ArduRover V4.1.4 (ceb1e903)
2/9/2022 8:36:49 AM : DESKTOP-V4xxxxx
2/9/2022 8:36:49 AM : ArduRover V4.1.4 (ceb1e903)
2

Thanks for posting. I’m pretty sure the issue is FENCE_RADIUS. If you increase this to 1000 (e.g. 1km) then I’ll be it won’t stop.

1 Like
3

Seems like it works fine for now. Thanks, @rmackay9 !!! lifesaver

1 Like
4

i have a follow up question to this. i am trying to write fences using python pymavlink. the following code doesn’t write the fence. what can be the issue?

from pymavlink import mavutil, mavwp

master =  mavutil.mavlink_connection(device="tcp:127.0.0.1:5762")
master.wait_heartbeat()

poli = [(35.63604046,34.53116655), 
(35.63638925,34.53209996),
(35.63584863,34.53270078),
(35.63536032,34.53252912),
(35.63520337,34.53167081),
(35.63554344,34.53127384)]

#enable fence
master.mav.command_long_send(
            master.target_system,
            master.target_component,
            mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, 0,
            1, 0, 0, 0, 0, 0, 0)


print(len(poli))
for i in range(len(poli)):
    master.mav.command_long_send(
                master.target_system,
                master.target_component,
                mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0,
                len(poli), 
                0, 
                0, 
                0, 
                poli[i][0],
                poli[i][1], 
                0)