You hit 1 knot every now and then. That’s not to shabby for a test.
Edit: More than 1 knot
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 
Thank you for the suggestions!
-P
@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 
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
This is the motoring build for KakuteF7 : https://drive.google.com/open?id=1VkG3ZbFLv7WuwFO12Qk7xotpgGdPVeib
No instructions yet tho, that’s tomorrows job 
1 Like
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?
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
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.
@patmo141 @IAMMATT 's excellent new RPM wiki page just went live, possibly it can shed some more light on the setup.
1 Like
Hello, new guy here I created an account to make you aware of this project if you weren’t already. https://blog.sotonsailrobot.org/
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.
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.
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. https://youtu.be/_QEu__46rQo
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.
2 Likes
Lovely!
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.
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
not yet, but coming soon
the page you linked and a few earlier posts held the answer(s)
problem 0: Pull up from vcc to signal was applied first. This did not result in any readings. I never removed it after I tried other things because once I got it to work, I didn’t care. So I can’t say definitively this “fixed” it.
problem 1: pin 55 and 54 were being used as relays.
problem 2: Because we use an RPM scaling factor that is on the order of .01, the RPM_MIN, RPM_MIN_QUAL and RPM_MAX values need to be adjusted. That is why my cups anemometer was not reporting anything. The times that it would pic a number and stay there, must have been when a the cups did a “double tap” and that frequency happened to be in the reportable range. So I had to set RPM_MIN and RPM_MIN_QUAL to .01
So, finally, I may be able to record some sailing data. This weekend we will have 20knots sustained with gusts to 30 knots! I hope to have some data to share.
2 Likes
Great to hear you are moving along to sailing.
I have had many weeks of no wind 1+2 m/s but hopes more is coming when moving to autumn here.
well, this morning I soldered everything together, and now it’s not working. Too frustrated to carry on. Free pixhawk, anemometer, wind direction kit. You pay shipping.