In a conservation project for developing new tag for marine turtles, we need to do oversea channel radio characterization of LoRa signals. We were a bit tired to do it by boat so we decide to build an autonomous boat. We also plan to help reef conservation and habitat mapping adding an echlogger coupled with a camera for shallow water.
I’m trying to build a skid strering boat using the pixhawk cube. The boat is made with a old surf board with 2 blue robotics T200 thrusters. I’m using ArduRover V3.4.2 firmware with Mission planner 1.3.62. The boat functions like I want in manual mode but I have errors in direction in Automode. The direction error can be more than 90°. I tried to set up my parameters following the ardupilot Rover tutorial and then some setup that I saw in this forum. (For instance setup of David_Boulanger).
I did my test in a harbor(Le Port, Réunion island). I tried first some really simple mission. Just one waypoint in front of the boat. When I switched to Automode the boat go in the wrong direction all the time and doesn’t seem to correct the direction. On my laptop screen when the boat doesn’t move the heading seem in the right direction. I will be happy with any kind of advice for the setup.
You can find attached link to the log file (https://transfernow.net/23c6r651wdb6) and the param file USV_22-07-19.param (11.8 KB) . I often stop the Automode to avoid collision with wall and other boat. I’m a bit lost to try to read and interpret the log file. If you have some advice of which param are important to check first, etc… Maybe for my case I need to check the yaw ? To be more clear maybe I can also make a video of my screen the next time.