Hi Randy, and David, @rmackay9 @David_Boulanger
I tried to adjust the position of the external GPS and compass to the center of gravity by changing the offset, as its hard to change the design of the boat. Some other info about the boat: the model of the ESC is Airbot Wraith32 Plus, and the motor provided is from a company’s official supply,(the model is BlueRobotics T200-Thruster-R1) where they also provided the hull for us. We need to mount the control system by ourselves in order to get it autonomous, that’s why we choose pixhawk and ardurover, trying to achieve it.
As you suggested, I modified the parameters in the ArduRover, and here is the current setting:
For this test, I mainly observed the manual and acro mode. Here are some behaviors of the boat which it’s hard for me to understand:
- In manual mode, generally it works very well. But when I turn the steering stick to the most right, the circle it makes is bigger than that when I turn the steering stick to the most left. Below is how it looks like:
- In Acro mode, it also happens that when I turn the steering stick to the most right, the circle it makes is much more bigger than that when I turn the steering stick to the most left. Below is how it looks like:
And sometimes it seems that I do not move the stick at all, the boat will move automatically to draw big circle(to the right side) by itself in Acro mode. That is really strange.
Here I attached the log for your info:
log 000011.bin: purely manual mode, to make the boat turn right/left by controlling the steering stick only
log 000012.bin: manual and acro mode. Sometimes in acro mode, the boat will drive itself even though I did nothing to the controlling stick.
log 000013.bin: mostly in testing the acro mode. Can see the big right turning circle and small left turning circle.
Here I also attached my RC configuration, it this range correct?
As I observe this strange behavior, and also in acro mode, when I change the mask to “steering” to observe the pid, the desired pid is always zero… and when I went back to see the log, the desired turn rate is also zero… So how could I tune the rate in acro mode? I would appreciate any help and direction about it. Thank you!