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  • Apr 01 19:16

    Williangalvani on readme

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    Williangalvani on positionControl

    Remove acceleration controller,… (compare)

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Willian Galvani
@Williangalvani
@yezishu2181345 what do you mean by "how is QGC imported?"? What do you want to do?
Oleksandr
@slovak194
Thanks, @patrickelectric. It looks that stable QGC also works well. At least for first tries.
Justin F
@jaylthegreat
do we know if auto flight mode will be supported in the next stable build?
yezishu2181345
@yezishu2181345
The ardupilot simulation in sitl mode, add the home point I want in the location.txt file can not be loaded in the map, I wanna set the home point through QGC, how to load the home point? @Williangalvani
Nailong Wu
@hughhugh
@Williangalvani I think he want to set the home location at some place when the QGC is launched.
Jacob Walser
@jaxxzer

do we know if auto flight mode will be supported in the next stable build?

@jaylthegreat I am setting up for the next stable release here: https://github.com/ArduPilot/ardupilot/milestone/37

auto support will not be included.

just to confirm - the only way to command an ardusub vehicle heading is either: 1. read heading message, run external control loop to command joystick yaw to desired set-point, or: 2. use newer versions of ardusub / pilot that support the message (in guided mode) MAVLINK_MSG_ID_SET_ATTITUDE_TARGET or sub.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms)
If there is another approach, I'd be interested! thanks!

@vshie I think we have support in stabilize/depth hold for the set attitude target with yaw. @patrickelectric worked on it

The ardupilot simulation in sitl mode, add the home point I want in the location.txt file can not be loaded in the map, I wanna set the home point through QGC, how to load the home point? @Williangalvani

https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME. You can set up custom mavlink commands in a mission inside of QGC. @yezishu2181345

Jacob Walser
@jaxxzer

is there any target for when the next stable release of arduSub will be? how could I help?

October 1: https://github.com/ArduPilot/ardupilot/milestone/37

I'm planning the work now. check back later @jaylthegreat

Jacob Walser
@jaxxzer

i was more wondering if there were weight, mass, or buoyancy variables it takes into account when calculating things (even just for sitl), so that i could modify them

sitl dynamics and properties are hard coded and are elementary approximations, they do not necessarily even reflect the brov2 very well. In real-world practice, you should be able to simply adjust the PID gains to work with your vehicle, but the defaults will probably work reasonably well.

@jaylthegreat
Justin F
@jaylthegreat
@jaxxzer Sorry to bother you with this. So for my project i need some support for autonomous flight in the coming months. I was hoping that you could tell me about any specific big issues that made you decide not to include it in this stable version.
Also i was hoping on your opinion on if a rudimentary automode could be implemented using just the bearing and accelerometer assuming im in shallow water with little to no current?
Justin F
@jaylthegreat
so, the mission planner and auto flight mode seem to work in SITL on the stable build. Are they usable on a actual ROV now?
once you've setup your positioning system of course
Justin F
@jaylthegreat
it appears to only work for 1 waypoint and it throws an error every time
Tsz Ho Sze
@szetszho
is there anyway to set exact heading of the rov while in stabilized or alt_hold mode without manual control cmd?
Oleksandr
@slovak194
@szetszho, there is a SET_ATTITUDE_TARGET message which seems to be working in alt_hold mode.
PS: In the Ardusub 3.6 beta
But the robot stops listening to the joystick commands when I send it. Is there any suggestions regarding how to use this message in combination with depth, lateral and forward movements?
Justin F
@jaylthegreat
any idea how i might access the buzzer that goes off when the sub is turned off? id like to use it in flight
Justin F
@jaylthegreat
rather, the buzzer is triggered when the sub is turned on. my mistake
Justin F
@jaylthegreat
@jaxxzer i just realized that i've been using the companion build from the master branch. Do you think this will cause an issue since im running the stable version of ardusub?
Charles Villard
@Silvanosky
What kind of position estimation sensor do you use ? I wanted to use dead reckoning but the drift is too bad. I can't use expensive stuff so I wanted to use vision based estimation but in cloudy water I don't think it will work well. Any suggestion ?
Justin F
@jaylthegreat
there is an accelerometer, could you use that somehow to detect how far you've drifted?
Charles Villard
@Silvanosky
I am using an imu already
Patrick José Pereira
@patrickelectric

Also i was hoping on your opinion on if a rudimentary automode could be implemented using just the bearing and accelerometer assuming im in shallow water with little to no current?

@jaylthegreat using only acc e gyr for position estimation is not enough

it appears to only work for 1 waypoint and it throws an error every time

What is the error ? In theory you are not supposed to send mission files since we do not support auto more yet

Justin F
@jaylthegreat
@patrickelectric it was a mission out of sequence error. I discussed the error here https://github.com/ArduPilot/ardupilot/issues/11814#issuecomment-511564437
it seems to not be an ardusub issue
Rishabh Jain
@rishabhkjain
Is there a way to command a sub to go to a certain depth and hold?
For example, if we want it to go to 5 ft underwater, go straight for 20s and then come up to 3ft
gcelec
@gcelec
@Silvanosky re: using an IMU/accelerometer for positioning - IMU's are only reliable when the vehicle is moving. Traditionally a Doppler Velocity Log for measuring low/no inertia is combined with an IMU - a kalman filter is used to give more weight to whichever sensor is working the best. DVL's are expensive and finding a low cost replacement is the holy grail of station keeping. I would imagine an optical flow camera would work in clear water with good visibility of the bottom, but haven't heard if anyone has experimented with it.
Nailong Wu
@hughhugh
Hi. Can the sonar ping be connected to the Pixhawk now? Or I should connect it to the raspberry pi board directly. Thx.
Nailong Wu
@hughhugh
Can the ardusub applied to the surface boat?
Thx.
Charles Villard
@Silvanosky
@hughhugh for surface boat you can use apmrover2 which handle Rover and boats
Nailong Wu
@hughhugh
@Silvanosky Hi. Does
Does aedusub still support GPS? Thank you.
I have tested ardusub before using rov. It describes the effects of each motor well.
Also it benefits the pid parameter tuning.
Nailong Wu
@hughhugh
@jaxxzer Hi, I have bought a sonar pinger made by Bluerobotics. At this stage, is it possible to connect the sonar pinger directly in Pixhawk? Or I need a raspberry pi to achieve this goal. Thank you.
wallaceframe
@wallaceframe
8
Charles Villard
@Silvanosky
Hi, does ardusub support blheli esc dshot protocol ? And is it reversible (of course for sub it is necessary) ? I know copter, plane and Rover are compatible but nothing is specified in the doc for ardusub
Nailong Wu
@hughhugh
图片.png
I have tried to get the data from sonar ping, but I failed using ping-python in raspberry pi. I have tried python3 and python2.
Willian Galvani
@Williangalvani
how did you install it? it looks like you cloned it. The best way would be through pip
we had some major changes and the master branch now contains only templates, the useable code is in "deployment" branch
Andrew Tridgell
@tridge
@jaxxzer can you please look at ArduPilot/ardupilot#12323 ?