Servers by jDrones

Sailboat Support

(Peter Hall) #398

The FPV is very cool!. The compass is defiantly quite un-happy, fixing that will probably help quite a bit. On the RTL you can see its heading is nearly 90 deg off from the direction it is moving in. Maybe you can move it way from metal or the servos. my boat has the same issue, although not quite so bad, hard to get any separation when the water proof compartment is so small. Quite tricky to tune up the steering PID’s as its hard to go at a consistent speed, i’m still on the defaults and it is not too bad.

(karla) #399

Haha, yes and helpful looking at after the sail to understand what happened.

This morning was time for the maiden sail with the Wing Sail rig.

I started with a new compass calibration at the site.
After that there was no complain of compass variance or any other complains. So I think the location of the mag on deck close to the mast is okay. No servos around but some other stuff, however I can move it around on deck as needed. At the moment it seems totally fine though :slight_smile:

The wind this morning is weak, shifting direction, and gusty.
Not ideal at all, but I am eager to get some first try of the wing.

  1. I have no prior experience and need to figure out how to sail with a Wing and control tab from ground up.

  2. I had to place the boat too far away from where I was standing to get some free wind.

  3. Sailing in weak wind means the wing don’t move despite control tab changes.

  4. My impression is that the wing can sail the boat well in good wind - has potential,
    I just don’t know how to operate it yet.

  5. After some 14 min of trying to sheet in and out and get some boat speed, I lost patience and turned on the Motor and headed home :slight_smile: Good to have a motor!

  6. I had the idea that if there is no wind and starting a motor with the control tab at neutral, i assumed the rig would turn to straight forward - I think it did.

(Peter Hall) #400

looks good!, i know the theory but have also never used a wing sail. It seems to be work OK, as you say more wind will help, I will have to pull my finger out and get the code done.

(David Boulanger) #401

You hit 1 knot every now and then. That’s not to shabby for a test.

Edit: More than 1 knot

(Patrick Moore) #402

ok great, looking forward to testing with LiPi + Ground/Signal connection + continuous spinning. If that doesn’t work I’ll order a box o resistors :slight_smile: Thank you for the suggestions!


(karla) #403

@David_Boulanger, yeah i guess you right not too shabby for a maiden. I can use the standard rig in light winds and the wing when more brisk. It should be basically the same to sail them, getting a good desired angle to the wind, only difference is the sheeting is indirect via the control tab, but the goal is the same.

A question regarding waypoint missions.
The wiki mentions WP_OVERSHOOT but I can’t find the SAIL_MAX_XTRACK parameter in the MP version I have? @iampete

B t w I could try out your motor setup code you completed… no hurry though :smile:

(Peter Hall) #404

WP_OVERSHOOT defines the maximum cross track error before tacking in master and stable. I had SAIL_MAX_XTRACK on my dev build for abit.

The good news is that SAIL_MAX_XTRACK is coming back with the motoring stuff since you it can turn off all the sailing stuff so need the WP_OVERSHOOT for its original use. I’m working on the wiki for the motoring stuff today, I will do you a firmware build and hopefully the updated wiki will explain everything ok.

1 Like
(Peter Hall) #405

This is the motoring build for KakuteF7 :

No instructions yet tho, that’s tomorrows job :wink:

1 Like
(karla) #406

Just a general question, when loading a new version of the code must all calibration of accelerometers and compass be redone or will the ‘old’ settings be working if just loading up the settings file from the previous version?

(Peter Hall) #407

old calibration settings will be fine in most cases, it will fail pre-arm if it needs redoing. In most case’s everything upgrading will be fine, although as your going from old master to new master rather than between stable releases there could be some funny stuff.

The thing to be careful of is flashing parameters from file, in general it is a bad idea to flash all parameters from from a file, better to compare and only change the ones that you understand.

1 Like
(karla) #408

Just come to think about it, did you try to swop the wires?
I remember only one way worked, but can’t remember which way.

(Peter Hall) #409

@patmo141 @IAMMATT 's excellent new RPM wiki page just went live, possibly it can shed some more light on the setup.

1 Like
(jason odell) #410

Hello, new guy here I created an account to make you aware of this project if you weren’t already.
They use small magnets in a wind vane to over drive a magnetometer and get wind direction. Very low friction if you balance it well. Anyway seemed relevant as the ultrasonic stuff is pretty expensive.

(Peter Hall) #411

HI Jason, welcome,

I’m aware of the lads down at Southampton, its a neat idea, we do already support loads of compasses, it maybe quite easy to add it as a driver back-end. I think the tricky bit is to try and stop the code useing it for navigation, there is lots of code to failsafe between compasses ect. Would probably need a new calibration method too.

(jason odell) #412

Thank you, great stuff here. I’ve been walking the ROS path but probably going to switch to ardu based on what I’m seeing here. I also found this interesting as you no longer have to care about wind direction.

(Peter Hall) #413

HI all,

I thought I should give a little update now the GSoC period has finished. You may have seen my conclusions blog post.

I have finally managed to get the video from that mission edited, this is in real time

and at 10x speed

@rmackay9 and I are working to get these improvments into ArduRover, once they make it in I will update the wiki to document all the new stuff.

The bits and pieces that did not make it in have not been forgotten, they will make it in over then next few mouths hopefully.

(karla) #414

The boat seems dangerously close to the edges of the river before it tacks upwind.
Not really dangerous, but risking to get caught in sea weed etc maybe…
Did you tack it by manual switch if it got too close?
A standard gps would have some ± 5m lateral drift, but maybe you have the new more accurate ones?
I like the wind indicator in the upper right corner.

(Peter Hall) #415

I did occasionally tack maunaly, not that often tho, for the most part it is in auto. The main issue is the accuracy between the map and real life. I laid out the fence on the map but in real life it was abit to close to the banks. There is a parameter for the boundary to leave, I did turn this up later and it worked better but the wind dropped before I could film it. Its just a cheap GPS, the EKF does quite a good job of minimising the drift.

1 Like
(ben) #416


Does the sailboat mode support self-trimming wingsail?

(Peter Hall) #417

not yet, but coming soon