Unusual manual behavior

ArduRover ArduBoat
1

log file - https://drive.google.com/file/d/1sYZZaK6XN8critY73hWdBRHvWXqMUZLW/view?usp=sharing

I have stock ardurover, downloaded and installed last week on a OG pixhawk setup with a raspberry pi companion. The vehicle is a inflatable dinghy with two trolling motors set in differential steering using a Roboclaw 45. I have a bluetooth playstation controller, and I am programmatically forwarding the x/y as rc channel 1 & 3, with those channels set as steering and throttle respectively. The output is servo1 and 3, and everything works as intended in manual mode with forward and turning done independently. So, press forward, both motors go forward, press back, they go back; turn left, turns left…

However, when I press forward and left.. it turns right. Same for forward right. I thought maybe I had something messed up in the programmatic joystick to rcin, but I see those correctly in the log.

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In this log, Red is throttle. Orange is steering. At the start, I move forward, turn left, turn right, then forward right. If you just track the blue line, it follows orange in the turns, but is opposite in the forward turn.

It is quite difficult to drive lol. Any thoughts?

2

First off, your joystick inputs appear to be reversed. For example, forward motion on the throttle (RCIN.C3) usually refers to 1500-2000PWM and reverse motion is 1000-1500PWM. To prevent further confusion down the line, I’d recommend reversing the RC inputs (RCn_REVERSED) and un-reversing the servo outputs (SERVOn_REVERSED).

Take a look at Steering Input Type and Reversing Behaviour — Rover documentation. You may want to try setting PILOT_STEER_TYPE to “3”

3 Likes
3

I’ve reversed the steering, and it just acts opposite now. I can’t reverse the servos. Roboclaw, for whatever reason, is reversed. These seem to be my only options there. RoboClaw Advanced RC Options - Basicmicro

Good suggestion on the pilot_steer, and it does work as expected, but unfortunately, that is not what I will be using for my control mechanism. I want one hand control, and pilot steer basically forces you to use two hands. I’d get another log for you, but apparently my sd card is trash, and I’m waiting on a new one to be delivered tomorrow.