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ArduRover 4.1.0-dev Mower w/GPS Yaw
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- Опубликовано: 15 авг 2024
- Quick update showcasing GPS yaw (heading) using ArduRover 4.1.0-dev firmware (downloaded mid-July 2020 from ArduPilot). Prior to this, the magnetometer based compass values provided wildly inaccurate results at times, likely due to interference from the rotating engine, ignition, and mower blades.
Using a combination of three uBlox ZED-F9P GPS boards from ArduSimple (SimpleRTK2B), in a fixed base/moving base/rover configuration, the flight controller can calculate heading based on positional comparison of the mower's antennas, mounted about 30" apart.
Flight controller is a ProfiCNC/Hex Cube Orange on a Pixhawk 2.1 carrier board.
Parameters of interest:
AHRS_EKF_TYPE = 3
EK3_ENABLE = 1
EK3_MAG_CAL = 6
GPS_AUTO_CONFIG = 1
GPS_DRV_OPTIONS = 1
GPS_TYPE = 17
GPS2_TYPE = 18
GPS_RATE_MS = 100
GPS_RATE_MS2 = 100
GPS_POS1_Y = -0.366
GPS_POS2_Y: 0.366
SERIAL1_PROTOCOL = 2 (MAVLink 2 telemetry)
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You freaking genius.
Destin...right back at you! I've been watching and enjoying your videos for years, long before you had any content featuring the fast jet business. The world got a little smaller the day I saw you post the T-38 video with Supa, with whom I flew A-10s and T-38s. It got even smaller when you flew with the T-Birds and Flak - a former pilot training student of mine and later, fellow instructor pilot. And today...the world just got a whole lot smaller! Blue skies and tailwinds, my friend!
I have been spending a lot of time thinking about this recently. Family has a few farms that take a while to mow the grass. I can make a basic push mower into an RC mower, but haven’t done anything with GPS yet. This is pretty much exactly what I had in mind. Greatly looking forward to seeing more videos and making one myself soon after my other project is complete!
You sir are my hero. I can't wait to do something like this one day... once I've got the land, money, & time!
Post a video when you do!
Simply fantastic. Does the job.
ruclips.net/video/vlFBtBZZLb4/видео.html
Yuri!! You have really outdone me! I am so impressed with your work. Your mower is tracking as straight as I have ever seen. And it is so good to see the moving base configuration operating. Have you, by any chance, compared how well your mower operates with and without the moving base? I have felt that having a heading that was rock solid and not subject to magnetic interference would make pivot turns much better, but really haven't felt that the tracking between waypoints would be helped much by it. You seem to indicate that it is helping. I would love to hear more. This is so awesome. Wow....
I just had to watch again! So impressed. And I can't wait to play with my Decel parameter when I get my mower going again!
Kenny, thanks so much! I am 100% certain that GPS yaw helps with pivot turns, and I suspect it's also helping with tracking between waypoints, but I can't conclusively prove that. As soon as I no longer had magnetometer anomalies throwing things off, I was able to immediately start tuning the whole system better (turning, decel, and overshoot parameters), and I have not disabled the moving base with the present tune. Perhaps the next time I run the mower I'll mow the same section twice, once with the moving base and once without. If I do, I'll post screenshots of the tracks from Mission Planner to compare the results.
Your suggestion some time ago to move to F9P modules was the ticket! I now have 3 F9Ps (fixed base, moving base, and rover), and I get very consistent RTK Fixed solutions now. Also, I don't think the M8P would perform well enough (fast enough) to consistently achieve a GPS Yaw solution in a moving base configuration.
I really need to post a follow-up video to showcase some of the script automation I mentioned. I added a scripted ignition/arming feature that combines arming and ignition on one RC channel, an automatic choke/cold start function, sets the parking brake when hold mode is selected, and even have automatic headlights based on sun angle (derived from GPS position and time of day). I also wrote a Python app as a companion to Mission Planner that modifies waypoint files with relay commands to start and stop the mower blades at the beginning and end of waypoint missions, converts between waypoint and poly files, and has some additional monitoring output that isn't convenient within Mission Planner. It's been a fun pandemic hobby of sorts!
@@YurisHomebrewDIY Wow!!! See folks---I told you had really outdone me! I just didn't know it was miles and miles. Your good explanations are priceless. Anything you can share with us is greatly appreciated. I am very interested in knowing more about your supplemental scripts and programs. I don't have my ignition, throttle or even blade on/off automated, but I am hoping to get some of that done when I get my mower back going, hopefully soon!
I have been working with the F9P a lot for my work and I am able to share that soon. In a nutshell, I have an F9P base uploading to RTK2GO on the web and then a relay station downloading from there and sending it to a handheld GPS (F9P) over Lora. This lets the GPS be in bad terrain. The relay station is in a spot with cell phone coverage to get the corrections from RTK2GO. I will share more in a video soon.
But, again.. wow! on your mower!!!
Fantastic! Works much better than mine does.
Great work! thanks for sharing.
ruclips.net/video/vlFBtBZZLb4/видео.html
About to use this to boost my lawn service business 😭
Man is talking rocket science
The secret to engineering is simplicity. I would get a Home Depot Mexican in the parking lot.
Cool story.
just fantastic!
Please make a tutorial video sir
Yuri, is this your very last config file on the github? 20210714 Cube Orange 4.1.0-dev (custom) GPS UART2.param
Great video
nice field. It can be gathered with vegetables instead of plain weed.
Glad to have found this. I have a pair of the uBlox ZED-F9P GPS boards from SparkFun, and I'd like to interface them to my Cube Orange as well to get yaw. Can you describe the physical connections between the moving base and rover units and the Cube -- i.e., which connectors/ports? I'm not using a fixed base, because I don't need RTK position.
ruclips.net/video/vlFBtBZZLb4/видео.html
Nice
Hola Yuri's !
He recibido ya mi kit Pixhawk 2.4.8 estoy teniendo problemas para que se instale el firmware ardurover , puedes ayudarme ?.
Tengo en mission planner indicar que tipo de bateria tiene conectada ?.
De momento solo lo conecto al Pc con su cable usb a ver si puedes y me indicas tambien como puedo conectarle el controlador de motores de Cytron MDDS30A de mi robot , pensaba esto seria mas facil pero me a pasado esto y me desilusiona con las ganas que tengo convertir mi robot ya en autonomo😢
This is super impressive! Any safety interlocks? Some sort of obstacle avoidance?
I have a physical kill switch on the back of the mower and can remotely operate the PTO clutch and ignition circuit using an RC airplane transmitter (I really need to shoot that scripted automation video!). I've toyed with geo-fencing and obstacle avoidance using LIDAR. I had some limited success with geo-fencing, but the super cheap LIDAR unit I used really didn't cut it in bright sunlight. That's definitely a feature I'd like to incorporate.
Congratulations, brilliant and well done. Very exciting. I am using a Here+ RTK (M8P's) on my rover at the moment. Would it be possible to add an ardusimple F9P as a moving base or would 2 F9P's be better? Does using GPS yaw remove the need for compass calibration?
My first RTK setup was a Here+. While it's a high quality product, I just don't think the M8Ps are up to task when it comes to GPS yaw. I was never able to get GPS yaw working with a combination of M8P and F9P in any moving base/rover configuration, and I dislike the M8P as a fixed base (it's slower and can't view as many satellites as the F9P). With an M8P fixed base, I rarely ever saw consistent RTK Fixed solutions.
In theory, GPS yaw removes the need for any magnetometer based compass, but in practice, removing the magnetometer results in many nuisance warnings and removes some redundancy. I recommend keeping one installed for now.
@@YurisHomebrewDIY Thanks for the reply.. Much appreciated.👍🚜
ruclips.net/video/vlFBtBZZLb4/видео.html
I have so many questions ... How did you generate so many precise way points (script calculation?)? How do you get what appears to be high precision on your mowing paths when GPS by itself (no RTK) is only accurate within meters?
It's using RTK. ArduPilot's Mission Planner software generates the waypoints easily (and even easier now that I helped modify it).
@@YurisHomebrewDIY Thank you very much for getting back to me! I should try ArduPilot. I have always used QGroundControl. I always have a problem with getting enough satellite locks (typically 0) using the M8N and a few other GPS receivers with the Pixhawk 2.4.8.
Awesome Yuri ,Are you using "skid steer" to control the servo's?
Yes, exactly.
@@YurisHomebrewDIY I started a year ago with a 50" cub cadet. Used it all last season (10 acres)with joy stick but did not track very straight but got the job done. 35 gram servo's with metal gears works fine but I removed the steering levers and hooked direct to the hyd motors . With eng Running it takes very little force. Flysky transmitter with 6 pwm modules. Have a emergency kill sw I found out the had way that it is a must . I was monitoring the servo pos on flysky and accidently put it into the exercise mode. After it hit a tree, backed in to a pile of concrete bocks, climbed a 6ft manure pile cut the pile up and down and headed north I finally realized I could stop it by shutting the transmitter off. Fortunately I had set the fail safe mode on flysky. If it is out range or looses sig it will stop! Also put a blade engage/disengage sw. well so much for fun. I am look fwd this year to make it autonomous! You have done most of the ground work for me. I love utube videos and folks like you are great. I look fwd to hearing more soon. Retried Delta airlines Mechanic/Avionics technician ,Harry Williams
@@harrywilliams4261 I did the same last year with a JD ztr except I installed an emergency cutoff and blade engage. Used the same controller as you. Still a pretty good learning curve for a retiree but the end result has been good. Mowed approximately 60 ac so far with no breakdowns. I used linear actuators instead of servos. As you, I'm also contemplating autonomous gps.
ruclips.net/video/vlFBtBZZLb4/видео.html
i'm ready to build one any tips or something you would do different now?
Yuri. That's really fantastic. You've shown that it's finally possible to create a very accurate autonomous lawnmower. Can you tell me how you set up the communuications between the Rover, Moving Base, and Base. Did you use an Xbee mesh network? I've been looking into that.
The moving base and rover communicate directly to each other via UART2, and with a Pixhawk controller via UART1 (all wired onboard).
Communication to and from the mower is via 900MHz SIK radio (carries all GPS/RTK/telemetry via MAVLink).
The fixed base and telemetry antenna are connected to a Raspberry Pi that repeats their serial data streams over TCP (wifi) using ser2net (set up as a systemd service to launch on boot).
The Pi connects to my home wifi network where I can connect a laptop with Mission Planner and monitor/send MAVLink messages within its interface.
It sounds convoluted, but it's not as complicated as it might seem, and it's been working very reliably on a 2 acre plot.
ruclips.net/video/vlFBtBZZLb4/видео.html
I have a similar setup on a zero turn mower with a Pixhawk1 and have faced the same challenges you talk about with regard to magnetic compass issues and yaw, thanks for sharing your params, will try them out and you've motivated me to upgrade to Rover 4.1! Can you say more about what GPS's I should get? Is the third one doing RTK from the base station? Would love to chat and compare setups. Will also submit a YT video if I get something reasonable!
Sounds like you're well on your way! My only recommendation for GPS modules is ArduSimple's SimpleRTK2B boards, since those are what I used to achieve success. It should be possible with other RTK modules, even including those not made by uBlox. However, I don't think you'll find a cleaner, more economical solution than a board using a uBlox F9P. I use three of them, fixed base, moving base, and rover. The fixed base is on a tripod on my porch, and the moving base/rover configuration resides on the mower itself.
This looks exciting are you planning to code at the end of any waypoints
I'm not sure if this answers the question, but I have a relay on/off command at the beginning and end of the waypoint missions to control the blades (PTO relay), along with a switch on the transmitter to engage/disengage the PTO relay anytime.
Thats incredible compared to those tiny electric mowers that look like a roomba
How accurate is making a route using the mission planner map?
It would be cool if you could just drive it around the perimeter of the lawn and it'd do the rest
I can't wait to see how this turns out and its uses in the lawncare buisness
With some added scripts, I do just drive the perimeter and then use that path to create a spiral mission in MP.
Yuri I have a remote control mower from Summit Mowers I picked up on auction. I have gutted the electronics on it and upgraded alot on it. I went with an FPV route using VR Goggles however the seeing the cuttlines is VERY hard even with HD camera. I modded the camera to have motion controls so that when I move my head it moves the camera to ensure I don't hit obstacles.
I have been looking into RTK to add to my mower, exactly what your mower is doing I want mine to do. I WOULD love to talk to you for a bit if you was willing, I don't need a step by step guide but maybe a direction and some gotchas you learned. Automnmous is good, I am not looking for that exactly, but I would love just a visual map of where the mower has been to get more effecient cut lines.
Recommend you start a topic at discuss.ardupilot.org. I am active there and may be able to provide some guidance, though I'm not certain that simply reporting precise position will help with your use case.
Hello! Really cool I love seeing any of this module being used. Curious there seems to be a perfect offset between purple and yellow lines at 3:09, is that kind of like the whole theory versus practise concept playing out? How big is that offset and are there any issues with it?
Cheers for the vid and reading my questions :D
The offset is caused by a slight overshoot of the waypoint as the mower decelerates to turn. The planned lines in yellow are approximately 35 inches apart (with a 48 inch mower deck), so the overshoots are only a few inches in most cases. Because the turn geometry at each waypoint remains quite consistent throughout the mowing pattern, the overshoots are also consistent, and I get nicely overlapped passes, despite not achieving perfect tracking of the yellow lines.
I'm still tuning that aspect, and I intend to provide updates if I achieve better accuracy in the future. The overshoots are most noticeable when planning perimeter passes, since the real-world geometry differs slightly from the yellow lines. Fortunately, with RTK, everything is very repeatable, so it doesn't take long to test run and alter the perimeter waypoints slightly to achieve a fairly tight tolerance with respect to boundaries and obstacles.
Send corrections from the fixed base to both the moving and the rover? Or moving base to rover? I got 2 m8ps coming and fixed station near but not sure optimal correction configurations
@@chriscooper5161 The fixed base sends corrections to the moving base via 900MHz radio link. The moving base sends corrections to the rover via direct serial connection (crossover wiring between the F9P boards on UART2, GPS_DRV_OPTIONS=1 on the Pixhawk).
If you have a public NTRIP station nearby, that may help considerably, allowing you to skip creating your own fixed base entirely. The nearest one to me is about 20 miles away, and while useable, does not provide the level of accuracy I desire. Half that distance or less is preferable.
Interestingly, if I disable the fixed base and only have a 3D fix on the moving base, I still see GPS yaw output because the rover is still relative to the moving base position, and reports its status as RTK Fixed.
I started with M8Ps and found them inadequate. I rarely saw RTK Fixed solutions from the M8Ps (RTK Float at best). I think the dual band capability of the F9P really helps out, and I now see RTK Fixed solutions nearly all the time. However, the bigger dual band antennas cost a lot of weight/space for the RC/drone crowd, but that's hardly a concern in this application.
@@YurisHomebrewDIY thanks much. I cheaped out and gonna give the 2 m8 a whirl, but appreciate the heads up. Hmm, I'm at 13 miles, will see. Mowed my first few acres this weekend on non rtk gps and see why rtk is a desire in mower rover world. Also not loving magnetometers and the ole variance error.....so hopeful to be able to get heading outta them. Thanks again.
@@chriscooper5161 Sure thing. GPS yaw can be a pretty frustrating road. I converted the mower early this Spring, and I've burned through a non-RTK GPS module for proof of concept along with two M8Ps and three magnetometers before arriving at the present solution, which relies on a bleeding edge dev version of ArduRover and 3 expensive (by comparison) F9Ps from ArduSimple in Spain. I still see some errors, but I'm convinced that rover/moving base is the correct path for this application if you're using the ArduPilot architecture.
Don't neglect the basic tuning - errors in tuning can be fortuitous and mask your problems or compound them very quickly!
to avoid trees / people or objects in general, did you put a sonar sensor on the pixhawk's ADC channel or use another method?
I tried a cheap forward facing LIDAR for a bit, but the beam width was too narrow to be of real use, and bright sunlight tended to give poor results. I'd like to try a 360 LIDAR someday, but I'm focused a bit more on fine tuning other aspects for now. For the moment, I'm using GPS based obstacle avoidance with geofences and/or specifically placed waypoints.
This is great! Did you set the way points manually?
I use ArduPilot's Mission Planner software to auto-generate waypoints, typically in a spiral pattern. I sometimes do some manual tweaking of the output, but it's mostly automatic.
@@YurisHomebrewDIY It's a fantastic experiment of mowing. Very appreciated if you could give me more about your spiral mission planning. I couldn't find any hints from Auto WP in Mission Planner.
@@kkobaby Draw a polygon first. Right click and select Auto WP->Survey Grid. Be sure to check "Advanced Options" in the window that pops up. Then use the Grid Options tab to select a Spiral path with "Distance between lines" at something less than the width of the mower deck.
@@YurisHomebrewDIY Thanks so ~~~ much for your kind and prompt answer ^^
@@YurisHomebrewDIY my question too, asked and answered, thanks, i was really wondering if you did all that manually lol
What flight modes do you use on a rover? I am just beginning the set up. Cube Orange, Rover 4.1.1
I use a six position dial and have it set to the following:
HOLD
MANUAL
AUTO
MANUAL
STEERING
ACRO
I do a lot of driving in MANUAL mode because it gives me the finest control when trimming around trees, buildings, and landscaping. STEERING and ACRO are nice for long, straight paths. I bracketed AUTO mode with MANUAL so that no matter which way I turn the dial, I get MANUAL mode with one click.
If I had to choose 3, they would be HOLD, MANUAL, and AUTO.
I see no reason to use RTL for a mower. You’re only asking for trouble by asking it to drive directly to the home waypoint unless you have VERY well placed fences and good obstacle avoidance parameters to match (along with external obstacle sensing).
Is using three identical gps very important? Or can I use 2 uBlox ZED-F9P boards from ArduSimple and one hello2 gps?
I definitely recommend two ZED-F9P modules onboard if you're interested in GPS-for-yaw. For RTK injects, you can use internet based GNSS stations or create your own base station with any GPS capable of serial RTCM3 messaging. I used an M8P based Here2 on my base station for a bit, but I found that I really prefer the improved performance of the ZED-F9P there as well.
I was wondering if you have tried only moving base/rover configuration with 2 F9P's without any stationary base ?
How does it compare to setup shown in video ?
I have indeed tried it! The moving base/rover configuration will still report GPS yaw, but unfortunately without RTK injects from a fixed base, positional accuracy suffers to the point of uselessness (3 meter accuracy). There is a public NTRIP station about 40 miles away that I've used for RTK injection with some measure of success, but the distance is a bit much, and I get occasional ~1m displacement errors using that station instead of my own fixed base. You can find public NTRIP stations here: monitor.use-snip.com/map
@@YurisHomebrewDIY Thank you for this valuable information. We are trying to build an initial prototype with one constraint - not to use fixed base. I guess it is going to be hard.
How did you configure ardupilot to use skid steering with two servos? It seems to want to drive motors and not servos for steering and throttle. Any pointers? I'm pulling my hair out and can't seem to get it configured.
It's fairly easy. Set PILOT_STEER_TYPE to 1 (two paddles). Set SERVO1_FUNCTION to 73 (throttle left) and SERVO3_FUNCTION to 74 (throttle right). The throttle servos then get connected to output pins 1 and 3. Remember, ESCs typically take servo PWM as throttle input and then output the required signals/voltage/current to drive motors. In this specific case, you just don't use an ESC and let the throttle output signals drive the servos directly.
Hi, I'm sorry to bother you, but are you using ROS?
No. It’s ArduPilot based.
It looks like your gps set up is in the 6-700 $ range, just for gps.. I am doing a similar project and using a Bn-880, it’s pretty good I think, haven’t done a madden voyage yet but I notice when I plug my radio telemetry my accuracy goes way down. I got some ideas but I was wondering is there some 30$-40$ range gps that might bet me closer but not centi accurate? Or some sort of casing or something I could use ?
You won't achieve better precision with another GPS module in that price range. To improve precision, you'll need an RTK capable module, and I'm unaware of one that's under about $200. You could just use one of them, though, and stick with magnetometer-based heading rather than going all out with GPS-based yaw like I have.
I know some folks have had success at using aluminum or copper foil for EMI shielding components, but I couldn't tell you exactly how to apply it for best results.
@@YurisHomebrewDIY Skytraq has Navspark RTK capable modules that are very cheap... and breakout boards for around $80 - 180 depending on the specific model. I think they claimed cm accuracy and 5Hz rates.
@@Wingnut353 I’m familiar with their claims, but I remain skeptical, as I’ve yet to see anyone achieve results with one. CUAV has a new offering for $250-ish that has dual antennas for moving baseline ops. I’m looking forward to testing their rig as soon as I can get my hands on one.
Hi Yuri
We have got a project to build something like your mower. We need to make a small quad GPS controlled for a field survey (towing an antenna). Can I contact you to ask a couple of question?
THX
The best place to start a conversation on the topic is discuss.ardupilot.org. I'm sporadically active there, and you'll see my name under several GPS Yaw related threads.
Yuri: what are you using to control your trans-axles,Linear Actuators? or servos?
Servos - www.amazon.com/gp/product/B01F4K42QI
@@YurisHomebrewDIY do you have a full parts list by chance?
@@jordankeeney9987 I’m sorry, but no. It’s sort of a living project. I did not work from drawings or schematics. It came together as I built it, modifying along the way until it worked. The ArduPilot Discuss Forum is a really good place to look for more info.
How far apart are your GPS antennas? Ready to attach mine and give it a test :-)/
About 30" apart.
@@YurisHomebrewDIY Thanks for the reply. I just tested my setup and couldn't get it working. GPS 1 and 2 YAW was consistently zero. Both GPS and GPS2 report RTK Fixed but I never see YAW in mavlink inspector. In the ardupilot documentation GPS for Yaw (aka Moving Baseline) it says "you can set GPS_DRV_OPTIONS = 1 which tells the u-blox GPS driver to configure the two GPS modules to send RTCMv2 data over UART2." but if you look at the parameter documentation it says
GPS_DRV_OPTIONS
0 Use UART2 for moving baseline on ublox
1 Use base station for GPS yaw on SBF
Did you use UART2 in your setup and what value do you have for GPS_DRV_OPTIONS ? Also I can't find any documentation that confirms the position of the antenna, if the go on the X axis or Y. It looks like you might have put the two antenna on the rollbar posts. Did I see that correctly?
@@bitdog7057 GPS_DRV_OPTIONS=1 is critical. I think the parameter description is misleading in the present documentation. Read here: ardupilot.org/copter/docs/common-gps-for-yaw.html. You need to make a serial connection between the rover and moving base on UART2 (jumper one GPS board's TX2 to the RX2 pin of the other, and vice versa). I never got it working with GPS_DRV_OPTIONS=0, which based on forum posts and community articles, relies on passing moving base updates through the flight controller.
You can position the antennas on any axis. Mine are on the Y (lateral) axis, +/- 0.36m from the centerline. You could position them on the X (longitudinal) axis just as easily. Just make sure they're as far apart as you can reasonably position them (at least half a meter, and preferably closer to 1 meter or more).
@@YurisHomebrewDIY My antenna are on the X axis about 0.660 meters apart. I have GPS_DRV_OPTIONS=1. What do have you have for GPS_INJECT_TO? I have 127.
@@bitdog7057 I also have 127 (that's the default, and I never changed it), but I think 0 may be more appropriate. The rover should get its corrections over UART2 from the moving base.
Does somebody knows if you can inject rtk corrections to the two gps inside the mower?
That’s exactly what’s happening here.
@@YurisHomebrewDIY Thank you, I am thinking of buying, and I needed to a solid confirmation about the setup. If I may ask some questions:
What is the version of firmware installed in the receivers?
How are the receivers wired? Both to the cube orange, or to each other and one connected to cube? If it's the latter, which one is connected?
What type of antenna are you using? I am planning to buy the helical one, but I don't know if it's the best
Did it require a lot of configuration by you? By that I mean enabling/disabling messages and other parameters in u-center
@@XPowerfullXPlayerX F9P firmware is the latest release, 1.13. While I did do some initial troubleshooting and attempts at uCenter configuration, I found it best to leave GPS configuration in the hands of the Pixhawk autoconfigure routines.
Antennas are uBlox AN-MB-00 purchased through ArduSimple.
Setting up RTK is a breeze in the ArduPilot ecosystem - read the documentation at ardupilot.org and join their discussion forum.
Getting GPS yaw to work can be troublesome, so if that's your aim, be prepared for some possible frustration (it's still in beta). This is a great place to start: ardupilot.org/copter/docs/common-gps-for-yaw.html
@@YurisHomebrewDIY Hello, I have some questions about using both moving baseline and a fixed base, do you have a email contact or way to contact other than the comment section of youtube?
@@XPowerfullXPlayerX The best way to get help on the subject is to join the discussion forums at discuss.ardupilot.org/
I apologize that I'm not very active there, but there's some renewed interest in the subject now that summer is approaching again, and I'll try to catch up on the discussions more often.
Bring it to market sick of cutting grass 🤣
Can you eliminate the need for the computer base station and have a computer attached to the mower itself?
The telemetry link does not have to be maintained throughout operation. To load waypoints, a computer and telemetry link is required. The computer could be briefly via USB to upload the next mission and then disconnected for execution if you didn't want to maintain a persistent link. I don't see much advantage to installing the computer onboard for this use case, though.
@@YurisHomebrewDIY thanks for your fast reply, I was thinking next step would be something like the one in this video:
ruclips.net/video/ifHr1YGfcdI/видео.html
@@nesoguitar I thought that might be your inspiration for the question. I don’t see much advantage to a permanently mounted computer. It would have to be ruggedized and thus expensive. I’d rather use wireless telemetry or a brief USB link as mentioned before.
Ok, and what do you think about the hydro gear pumps for controlling the turn arms rather than using servos/actuators? Because with servos you can’t manually drive the mower, correct? I think these are the only two differences between your design and the commercial one... the software they made makes set up very easy, you drive around the property and the mower learns and comes up with the mission plan. I wonder how easy is it to write the software for that?
I also have to say you heck of a smart guy
Do you have a fail safe button other than RC
There are some software failsafes built into the Pixhawk controller that will stop the mower in certain failure modes. I can drive the mower, control the choke/throttle, engage/disengage the mower blades, control the headlights, and enable/disable the ignition by both RC and via MAVLink messages sent from a computer/tablet/phone. Lastly, there are two physical switches to kill the ignition, one on the side of the mower and one at the back, so that if all else fails, I can physically chase it down and mash a kill switch. I'd like to explore some proximity/obstacle based failsafes at some point, but those likely require a fairly expensive LIDAR unit that works reliably in bright sunlight.
@@YurisHomebrewDIY that’s very good indeed
I love this project, I’m working on a similar tracked snow blower. I’d like to have a kill switch based on separate dual rf radio system that checks for a heartbeat and shuts off if a signal is detected or the heartbeat is lost.
seems mavlink has this already built in as well.
I understand only 50% of this.
Hello
Version Firmware rover??
As stated in the title and description 4.1.0-dev is the version I use.
come on man. Stop demanding respect and show others you use ArduRover Skid Steering with the Pixhawk
show them the steps or else I will show everyone how to do it
I'm a little baffled by your comment here. I gave quite a bit of info in the description, and recently, I've been very involved on the ArduPilot forum at discuss.ardupilot.org/. I also have a bunch of scripts, tools, and full parameter downloads at github.com/yuri-rage/ArduRover_Mower. I'm not really sure where I demanded anything, I've uploaded multiple videos with more detail, and I have plans to keep the series going. If your threat is an offer to further the community and the ArduPilot project by providing more info, then it's no threat at all, and I'll welcome your own insight either on the forum or by way of RUclips videos. Cheers.
@@YurisHomebrewDIY lol the internet man, it never gets old